Exponential Adaptive Event-Triggered Formation Tracking of Heterogeneous Multi-Agent Systems Based on Output Feedback

The exponential adaptive event-triggered formation tracking of heterogeneous multi-agent systems (HMASs) is investigated in this paper. First, to obtain the state of the leader in a distributed way and save communication resources simultaneously, a novel adaptive distributed observer based on event-...

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Vydané v:IEEE Conference on Industrial Electronics and Applications (Online) s. 1 - 6
Hlavní autori: An, Binghe, Fan, Huijin, Wang, Bo, Liu, Lei
Médium: Konferenčný príspevok..
Jazyk:English
Vydavateľské údaje: IEEE 05.08.2024
Predmet:
Adaptation models
Estimation error
event-triggered communication
exponential convergence
Formation tracking
HMASs
Industrial electronics
Multi-agent systems
Observers
Output feedback
Topology
ISSN:2158-2297
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Shrnutí:The exponential adaptive event-triggered formation tracking of heterogeneous multi-agent systems (HMASs) is investigated in this paper. First, to obtain the state of the leader in a distributed way and save communication resources simultaneously, a novel adaptive distributed observer based on event-triggered communication is constructed, where the adaptive gain is designed wisely such that the use of global topology information is avoided. Further, the local formation controller is established to achieve the desired time-varying formation pattern utilizing the output information only. It's noted that the exponential convergence with a predefined rate can be achieved by the proposed distributed observer and controller, even in the presence of the adaptive gain. This feature improves the flexibility of the algorithm. Simulations are carried out to show the effectiveness of the proposed scheme.
ISSN:2158-2297
DOI:10.1109/ICIEA61579.2024.10664708