The paper proposes a novel approach for formation-containment control based on a dynamic event-triggering mechanism for multi-agent systems. The leader-leader and follower-follower communications are reduced by utilizing the distributed dynamic event-triggered framework. We consider two separate sets of design parameters: one set comprising control and dynamic event-triggering parameters for the leaders and a second set similar to the first one with different values for the followers. The proposed algorithm includes two novel stages of co-design optimization to simultaneously compute the two sets of parameters. The design optimizations are convex and use the weighted sum approach to enable a structured trade-off between the formation-containment convergence rate and associated communications. Simulations based on non-holonomic mobile robot multi-agent systems quantify the effectiveness of the proposed approach.

中文翻译：

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基于动态事件触发机制的多主体系统编队遏制控制

提出了一种基于动态事件触发机制的多主体系统编队控制的新方法。通过使用分布式动态事件触发框架，可以减少领导者-领导者和关注者-跟随者之间的通信。我们考虑两组独立的设计参数：一组包含针对领导者的控制和动态事件触发参数，第二组与第一组相似，而第二组与跟随者具有不同的值。所提出的算法包括两个新的协同设计优化阶段，以同时计算两组参数。设计优化是凸面的，并使用加权和方法来实现地层-围护收敛率和相关通信之间的结构取舍。