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Volume 11 Issue 6
Jun.  2024

IEEE/CAA Journal of Automatica Sinica

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L. Feng, B. Huang, J. Sun, Q. Sun, and  X.  Xie,  “Adaptive event-triggered time-varying output group formation containment control of heterogeneous multiagent systems,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 6, pp. 1398–1409, Jun. 2024. doi: 10.1109/JAS.2024.124260
Citation: L. Feng, B. Huang, J. Sun, Q. Sun, and  X.  Xie,  “Adaptive event-triggered time-varying output group formation containment control of heterogeneous multiagent systems,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 6, pp. 1398–1409, Jun. 2024. doi: 10.1109/JAS.2024.124260

Adaptive Event-Triggered Time-Varying Output Group Formation Containment Control of Heterogeneous Multiagent Systems

doi: 10.1109/JAS.2024.124260
Funds:  This work was supported in part by the National Key Research and Development Program of China (2018YFA0702200) and the National Natural Science Foundation of China (52377079, 62203097, 62373196)
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  • In this paper, a class of time-varying output group formation containment control problem of general linear heterogeneous multiagent systems (MASs) is investigated under directed topology. The MAS is composed of a number of tracking leaders, formation leaders and followers, where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations, respectively. Firstly, compensators are designed whose states are estimations of tracking leaders, based on which, a controller is developed for each formation leader to accomplish the expected formation. Secondly, two event-triggered compensators are proposed for each follower to evaluate the state and formation information of the formation leaders in the same group, respectively. Subsequently, a control protocol is designed for each follower, utilizing the output information, to guide the output towards the convex hull generated by the formation leaders within the group. Next, the triggering sequence in this paper is decomposed into two sequences, and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno behavior. Finally, a numerical simulation is introduced to confirm the validity of the proposed results.

     

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    Highlights

    • This paper studies a multilevel multigroup problem where agents are categorised into tracking leaders, formation leaders, and followers. At each level, the agents are further divided into several different groups, which collaborate to simultaneously accomplish multiple tasks through interactions between and within groups
    • This paper investigates the time-varying output group formation containment problem for general linear heterogeneous multi-agent systems under a directed topology, where the agents have different characteristics and dynamic models. The formation leaders track the in-group tracking leader with a specific formation, while the followers eventually travel in the convex hull formed by the formation leaders within the group
    • The control protocol proposed in this paper is fully distributed and adopts new dynamic event-triggered mechanisms to efficiently save communication resources, and the Zeno behavior is ruled out by giving positive lower bounds of the inter-event intervals of two subsequences

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