Formation-Containment Control Using Dynamic Event-Triggering Mechanism for Multi-Agent Systems |
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| Authors: | Amir Amini Amir Asif Arash Mohammadi |
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| Abstract: | 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. |
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| Keywords: | Co-design convex optimization dynamic event-triggered schemes formation-containment control multi-agent systems |
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