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Observer-based self-triggered control for time-varying formation of multi-agent systems

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Abstract

This paper studies the time-varying formation problem of general multi-agent systems with undirected topology via observer-based event-triggered control schemes. The distributed event-triggered control scheme and self-triggered control scheme are developed respectively. Each agent updates its next event time using current information without continuous communication in self-triggered control strategy. Formation error and state estimation error are considered simultaneously to get more accurate formation. Meanwhile, it is only when a request is received that each agent broadcasts its information. It is demonstrated that the time-varying formation can be achieved asymptotically under the two proposed control schemes and Zeno behavior can be excluded. Finally, numerical examples are provided to illustrate the effectiveness of the proposed observer-based event-triggered control strategies.

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Acknowledgements

This work was partially supported by Fundamental Research Funds for the Central Universities (Grant No. FRF-GF-17-B46), National Natural Science Foundation of China (Grant Nos. 61703037, 61921004), and National Postdoctoral Program for Innovative Talents (Grant No. BX20200081). The authors would like to thank the anonymous associate editor and reviewers for their comments and suggestions.

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Authors and Affiliations

  1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, 100083, China

    Xiaofeng Chai & Yao Yu

  2. School of Automation, Southeast University, Nanjing, 210096, China

    Jian Liu & Changyin Sun

Authors
  1. Xiaofeng Chai
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  2. Jian Liu
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  3. Yao Yu
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  4. Changyin Sun
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Correspondence to Yao Yu.

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Chai, X., Liu, J., Yu, Y. et al. Observer-based self-triggered control for time-varying formation of multi-agent systems. Sci. China Inf. Sci. 64, 132205 (2021). https://doi.org/10.1007/s11432-019-2815-7

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