Decoupled design of distributed event-triggered circle formation control for multi-agent system

Abstract

In this paper, the problem of circle formation of multi-agent system in a plane is investigated. Inspired by the idea of decouple design, we decompose the overall control objective into two sub-goals, the first one is circle forming that agents need to move to a circle with a desired radius and centred on a predefined target, and the second one is space adjustment that each agent form and maintain a desired relative position with its neighbours. Since the completion of the second objective requires information from neighbouring agents, a distributed event-triggered controller is proposed to save communication resources and reduce the number of controller updates, which consists of two parts corresponding to two sub-goals. Furthermore, it is proved that there exists no Zeno behaviour under the proposed control laws. Finally, a numerical simulation verifies the effectiveness of the distributed event-triggered circle formation controller proposed in this paper.

Keywords:

• Circle formation
• event-triggered
• multi-agent system
• decouple design

Data availability statement

The data and materials that support the results or analyses presented in this paper are freely available from the corresponding author upon request.

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work is supported by National Natural Science Foundation of China (62073143, 61922063), Program of Shanghai Academic Research Leader (19XD1421000), Shanghai and HongKong-Macao-Taiwan Science and Technology Cooperation Project (19510760200), Shanghai Shuguang Project (18SG18), and Innovation Program of Shanghai Municipal Education Commission (2021-01-07-00-02-E00107).