Event-triggered distributed cross-dimensional formation control for heterogeneous multi-agent systems  

作　　者：Huimin WEI Chen PENG Min ZHAO 

机构地区：[1]School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China [2]School of Mathematics and Statistics,Nantong University,Nantong 226019,China

出　　处：《Frontiers of Information Technology & Electronic Engineering》2024年第8期1123-1133,共11页信息与电子工程前沿（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.62173218);the International Cooperation Project of Shanghai Science and Technology Commission,China(No.21190780300)。

摘　　要：This paper concerns the event-triggered distributed cross-dimensional formation control problem of heterogeneous multi-agent systems(HMASs)subject to limited network resources.The central aim is to design an effective distributed formation control scheme that will achieve the desired formation control objectives even in the presence of restricted communication.Consequently,a multi-dimensional HMAS is first developed,where a group of agents are assigned to several subgroups based on their dimensions.Then,to mitigate the excessive consumption of communication resources,a cross-dimensional event-triggered communication mechanism is designed to reduce the information interaction among agents with different dimensions.Under the proposed event-based communication mechanism,the problem of HMAS cross-dimensional formation control is transformed into the asymptotic stability problem of a closed-loop error system.Furthermore,several stability criteria for designing a cross-dimensional formation control protocol and communication schedule are presented in an environment where there is no information interaction among follower agents.Finally,a simulation case study is provided to validate the effectiveness of the proposed formation control protocol.

关 键 词：Heterogeneous multi-agent systems Formation control Cross-dimensional event-triggered mechanism 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]