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

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posted on 2023-06-09, 12:26 authored by Xiaomei Liu, Shuzhi Sam Ge, Cher-Hiang Goh, Yanan LiYanan Li
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.

History

Publication status

  • Published

File Version

  • Accepted version

Journal

IEEE Transactions on Cybernetics

ISSN

2168-2267

Publisher

Institute of Electrical and Electronics Engineers

Issue

3

Volume

49

Page range

1000-1011

Department affiliated with

  • Engineering and Design Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2018-03-09

First Open Access (FOA) Date

2018-03-09

First Compliant Deposit (FCD) Date

2018-03-09

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