Distributed Formation Tracking Control with Edge-Triggered Communication Mechanism

Abstract

This paper studies the distributed event-triggered leader-follower formation tracking control problem of general linear multi-agent systems (MASs) with a dynamic leader in a sampled-data setting. A novel asynchronous edge-based event- generator is established for each communication edge to regulate the inter-agent communication at each sampling instant. Then, we propose an edge-state-estimate-based formation tracking algorithm, under which the formation tracking control problem can be formulated as a stability analysis problem of the closed-loop formation error dynamics. The event-generator and formation tracking controller gains can then be co-designed based on the feasible linear matrix inequality (LMI) conditions that guarantee the ultimate boundedness of the closed-loop formation error dynamics. Numerical simulations were carried out using a group of four mobile robots to validate the proposed method.