Distributed Event-Triggered Approach for Multi-Agent Formation Based on Cooperative Localization with Mixed Measurements

Author:

Lin Yanjun,Lin Zhiyun,Sun Zhiyong

Abstract

This paper concentrates on multi-agent formation control problems under mixed measurements of distance and bearing. Towards this objective, a distributed event-triggered estimation-based control framework is developed such that only at necessary time instants, the event for estimation (namely, cooperative localization among a subgroup of agents) is triggered to recover relative position information by utilizing a mixed distance and bearing measurements from different agents. Firstly, it is shown by using the stiffness theory that a subgroup of agents are capable of recovering relative position information if a sufficient number of independent distance and range measurements are available. Secondly, a distributed event-triggered mechanism is presented for achieving an affine formation control, which can be implemented in an asynchronous manner and also ensures Zeno-free behavior. Simulation studies are provided to demonstrate the effective performance of the proposed approach.

Funder

National Natural Science Foundation of China

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering

Reference34 articles.

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