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Cooperative event-based rigid formation control

Sun, Zhiyong LU ; Liu, Qingchen ; Huang, Na ; Yu, Changbin and Anderson, Brian D.O. (2021) In IEEE Transactions on Systems, Man, and Cybernetics: Systems 51(7). p.4308-4320
Abstract

This article discusses cooperative stabilization control of rigid formations via an event-based approach. We first design a centralized event-based formation control system, in which a central event controller determines the next triggering time and broadcasts the event signal to all the agents for control input update. We then build on this approach to propose a distributed event control strategy, in which each agent can use its local event trigger and local information to update the control input at its own event time. For both cases, the triggering condition, event function, and triggering behavior are discussed in detail, and the exponential convergence of the event-based formation system is guaranteed.

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author
; ; ; and
organization
publishing date
type
Contribution to journal
publication status
published
subject
keywords
Cooperative control, event-based control, graph rigidity, multiagent formation, rigid shape
in
IEEE Transactions on Systems, Man, and Cybernetics: Systems
volume
51
issue
7
article number
8888218
pages
13 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
external identifiers
  • scopus:85112217976
ISSN
2168-2216
DOI
10.1109/TSMC.2019.2945988
language
English
LU publication?
yes
id
9fdc9f70-139b-4612-a57d-07b39d111aa3
date added to LUP
2021-09-20 13:10:06
date last changed
2025-04-04 14:26:08
@article{9fdc9f70-139b-4612-a57d-07b39d111aa3,
  abstract     = {{<p>This article discusses cooperative stabilization control of rigid formations via an event-based approach. We first design a centralized event-based formation control system, in which a central event controller determines the next triggering time and broadcasts the event signal to all the agents for control input update. We then build on this approach to propose a distributed event control strategy, in which each agent can use its local event trigger and local information to update the control input at its own event time. For both cases, the triggering condition, event function, and triggering behavior are discussed in detail, and the exponential convergence of the event-based formation system is guaranteed. </p>}},
  author       = {{Sun, Zhiyong and Liu, Qingchen and Huang, Na and Yu, Changbin and Anderson, Brian D.O.}},
  issn         = {{2168-2216}},
  keywords     = {{Cooperative control; event-based control; graph rigidity; multiagent formation; rigid shape}},
  language     = {{eng}},
  month        = {{07}},
  number       = {{7}},
  pages        = {{4308--4320}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{IEEE Transactions on Systems, Man, and Cybernetics: Systems}},
  title        = {{Cooperative event-based rigid formation control}},
  url          = {{http://dx.doi.org/10.1109/TSMC.2019.2945988}},
  doi          = {{10.1109/TSMC.2019.2945988}},
  volume       = {{51}},
  year         = {{2021}},
}