Event-Based Formation Control of Networked Multi-Agent Systems Using Complex Laplacian Under Directed Topology
Mojtaba Ranjbar, Mohammad Taghi Hamidi Beheshti, Sadegh Bolouki
Abstract
In this letter, the formation control problem of multi-agent systems with directed communication graphs is considered. A novel distributed event-triggered approach, which involves complex Laplacian, is proposed to address the problem. The event condition depends on periodic samplings of agent states, which automatically eliminates the possibility of Zeno behavior. Then, it is shown that, under simple verifiable conditions, the proposed control strategy results in the desired formation of agents. Finally, the results are verified by numerical examples.
Topics & Concepts
Zeno's paradoxesVerifiable secret sharingSimple (philosophy)Computer scienceMulti-agent systemLaplacian matrixEvent (particle physics)Distributed computingControl (management)Topology (electrical circuits)Laplace operatorTheoretical computer scienceMathematicsArtificial intelligencePhysicsMathematical analysisGeometryPhilosophySet (abstract data type)Quantum mechanicsEpistemologyCombinatoricsProgramming languageGraphDistributed Control Multi-Agent SystemsNeural Networks Stability and SynchronizationMathematical and Theoretical Epidemiology and Ecology Models