Fully distributed event-triggered affine formation maneuver control over directed graphs
Chang Z Z, Song W H, Wang J J, et al
Sci China Inf Sci, 2023, 66(6): 164201
Affine formation maneuver control primarily aims to steer a group of agents to simultaneously execute various formation maneuvers such as translations, scales, and rotations. It has several potential applications in many fields, such as military, aerospace, and source-seeking. Ever since the pioneering work in [1], considerable attention has been devoted to affine formation maneuver control issues for systems with double-integrator, high-order, and general linear dynamics over undirected graphs. In direct graphs, the corresponding control issues have been investigated in [4, 5] for double-integrator and general linear multiagent systems. However, due to the directed-graph-induced asymmetry, the existing results usually require the knowledge of certain global information of the network and thus are not fully distributed. Moreover, in most existing studies, the interagent communication and control law updates have been executed in a continuous manner, which may not apply to scenarios with constrained communication bandwidth and limited energy resources. Therefore, it is reasonable to employ the so-called event-triggered methods to reduce unnecessary communication/updates.