Cooperative event-based rigid formation control

TL;DR

This paper introduces an event-based control approach for cooperative stabilization of rigid formations, providing both centralized and distributed strategies with guaranteed exponential convergence.

Contribution

It presents a novel event-based formation control framework that enables decentralized control using local triggers, improving efficiency over traditional methods.

Findings

Centralized event control determines trigger times and broadcasts signals.

Distributed event control allows agents to update controls independently.

Exponential convergence of the formation system is proven.

Abstract

This paper discusses cooperative stabilization control of rigid formations via an event-based approach. We first design a centralized event-based formation control system, in which a central event controller determines the next triggering time and broadcasts the event signal to all the agents for control input update. We then build on this approach to propose a distributed event control strategy, in which each agent can use its local event trigger and local information to update the control input at its own event time. For both cases, the triggering condition, event function and triggering behavior are discussed in detail, and the exponential convergence of the event-based formation system is guaranteed.