A Dynamic Event Triggering Formation Method for Multi-agent Systems Under Communication Delay Constraints
To solve the problems of communication delay and energy loss of agents,a dynamic event triggering formation control method for second-order multi-agent systems with delay and switching topology is investigated.Considering the communication delay,a dynamic event triggering mechanism is designed to enable the system to be controlled according to the real-time state by dynamically adjusting the event triggering conditions.According to this control method,the mathematical model of the closed-loop control system under the delay control input,switching topology and dynamic event triggering is established,and its stability is proved by using Lyapunov stability theory and linear matrix inequality theory.Compared with the existing method,simulation results show that the proposed method can avoid a lot of triggers,save network resources,and improve the convergence performance of the multi-agent system.
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维普
