Event-triggered coordination for formation tracking control in constrained space with limited communication

Liu, Xiaomei, Ge, Shuzhi Sam, Goh, Cher-Hiang and Li, Yanan (2019) Event-triggered coordination for formation tracking control in constrained space with limited communication. IEEE Transactions on Cybernetics, 49 (3). pp. 1000-1011. ISSN 2168-2267

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In this paper, the formation tracking control is studied for a multi-agent system (MAS) with communication limitations. The objective is to control a group of agents to track a desired trajectory while maintaining a given formation in non omniscient constrained space. The role switching triggered by the detection of unexpected spatial constraints facilitates efficiency of event-triggered control in communication bandwidth, energy consumption and processor usage. A coordination mechanism is proposed based on a novel role ‘coordinator’ to indirectly spread environmental information among the whole communication network and form a feedback link from followers to the leader to guarantee the formation keeping. A formation scaling factor is introduced to scale up or scale down the given formation size in the case that the region is impassable for MAS with the original formation size. Controllers for the leader and followers are designed and the adaptation law is developed for the formation scaling factor. The conditions for asymptotic stability of MAS are discussed based on the Lyapunov theory. Simulation results are presented to illustrate the performance of proposed approaches.

Item Type: Article
Schools and Departments: School of Engineering and Informatics > Engineering and Design
Depositing User: Catrina Hey
Date Deposited: 09 Mar 2018 13:44
Last Modified: 17 Jul 2019 13:45
URI: http://sro.sussex.ac.uk/id/eprint/74334

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