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Volume 9 Issue 5
May  2022

IEEE/CAA Journal of Automatica Sinica

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Article Contents
W. H. Li, H. G. Zhang, Y. Zhou, and  Y. C. Wang,  “Bipartite formation tracking for multi-agent systems using fully distributed dynamic edge-event-triggered protocol,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 5, pp. 847–853, May 2022. doi: 10.1109/JAS.2021.1004377
 Citation: W. H. Li, H. G. Zhang, Y. Zhou, and  Y. C. Wang,  “Bipartite formation tracking for multi-agent systems using fully distributed dynamic edge-event-triggered protocol,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 5, pp. 847–853, May 2022.

# Bipartite Formation Tracking for Multi-Agent Systems Using Fully Distributed Dynamic Edge-Event-Triggered Protocol

##### doi: 10.1109/JAS.2021.1004377
Funds:  This work was supported by National Key R & D Program of China (2018YFA0702200), the National Natural Science Foundation of China (61627809, 62173080), and Liaoning Revitalization Talents Program (XLYC1801005)
• In this study, the bipartite time-varying output formation tracking problem for heterogeneous multi-agent systems (MASs) with multiple leaders and switching communication networks is considered. Note that the switching communication networks may be connected or disconnected. To address this problem, a novel reduced-dimensional observer-based fully distributed asynchronous dynamic edge-event-triggered output feedback control protocol is developed, and the Zeno behavior is ruled out. The theoretical analysis gives the admissible switching frequency and switching width under the proposed control protocol. Different from the existing works, the control protocol reduces the dimension of information to be transmitted between neighboring agents. Moreover, since an additional positive internal dynamic variable is introduced into the triggering functions, the control protocol can guarantee a larger inter-event time interval compared with previous results. Finally, a simulation example is given to verify the effectiveness and performance of the theoretical result.

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•  JAS-2021-1017-supp.pdf simulation_program.rar Appendix.pdf

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沈阳化工大学材料科学与工程学院 沈阳 110142

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## Highlights

• This paper addresses the bipartite time-varying output formation tracking problem for heterogeneous MASs with multiple leaders and switching communication networks via a novel reduced-dimensional observer-based fully distributed asynchronous dynamic edge-event-triggered output feedback control protocol
• The proposed control protocol reduces the dimension of information to be transmitted between neighboring agents
• The control protocol can guarantee a larger inter-event time interval and reduce more communication frequency
• A reduced-dimensional observer is designed. In contrast to the full-dimensional observer, the design cost of observer is greatly reduced
• This paper considers the case that the switching communication networks may be disconnected. Theoretical analysis gives the admissible switching frequency and switching width under the proposed control protocol. Compared with related works, the admissible switching frequency and switching width are larger

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