期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 64, 期 10, 页码 8118-8127出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2017.2701778
关键词
Autonomous mobile robot; dynamic threshold parameter; event-triggered communication mechanism (ECM); formation control; multi-agent system (MAS)
资金
- Australian Research Council [DP160103567]
This paper addresses the distributed formation control problem of a networked multi-agent system (MAS) subject to limited communication resources. First, a dynamic event-triggered communication mechanism (DECM) is developed to schedule inter-agent communication such that some unnecessary data exchanges among agents can be reduced so as to achieve better resource efficiency. Different from most of the existing event-triggered communication mechanisms, wherein threshold parameters are fixed all the time, the threshold parameter in the developed event triggering condition is dynamically adjustable in accordance with a dynamic rule. It is numerically shown that the proposed DECM can achieve a better tradeoff between reducing inter-agent communication frequency and preserving an expected formation than some existing ones. Second, an event-triggered formation protocol is delicately proposed by using only locally triggered sampled data in a distributed manner. Based on the formation protocol, it is shown that the state formation control problem is cast into an asymptotic stability problem of a reducedorder closed-loop system. Then, criteria for designing desired formation protocol and communication mechanism are derived. Finally, the effectiveness and advantages of the proposed approach are demonstrated through a comparative study in multirobot formation control.
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