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.
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).