In this paper, the formation tracking control is studied for a multiagent 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 nonomniscient 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.

中文翻译：

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受限通信条件下事件触发式协调在受限空间中的编队跟踪控制

在本文中，研究了具有通信限制的多主体系统（MAS）的编队跟踪控制。目的是控制一组代理以跟踪所需轨迹，同时在非全知的受限空间中保持给定的编队。由检测到意外的空间限制触发的角色切换可提高事件触发的控制效率，包括通信带宽，能耗和处理器使用率。提出了一种基于新型角色“协调者”的协调机制，以在整个通信网络中间接传播环境信息，并形成从追随者到领导者的反馈链接，以确保保持阵型。在该区域无法使用原始地层尺寸进行MAS的情况下，引入地层比例因子以按比例放大或缩小给定地层尺寸。设计了领导者和跟随者的控制器，并针对编队比例因子制定了适应律。基于李雅普诺夫理论讨论了MAS渐近稳定的条件。仿真结果表明了所提出方法的性能。