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Formation Control with Multiple Leaders via Event-triggering Transmission Strategy

Jing Liu, Jian-an Fang*, Zhen Li, and Guang He
International Journal of Control, Automation, and Systems, vol. 17, no. 6, pp.1494-1506, 2019

Abstract : Event-triggering formation control with multiple leaders in second-order nonlinear multi-agent systems is investigated in this paper. This novel distributed formation control strategy allows the event-triggering condition to be intermittently examined at sampling instants, where the data transmission is driven by an event-triggering control protocol. Based on this strategy, two different formation control protocols are presented. Then, some sufficient conditions are given to ensure the second-order nonlinear multi-agent systems converge to the desired formation shape. Finally, examples are given to show the effectiveness of theoretical results.

Keyword : "Event-triggering protocol, formation control, multi-agent systems, nonlinear dynamics. "

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