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Volume 7 Issue 5
Sep.  2020

IEEE/CAA Journal of Automatica Sinica

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Amir Amini, Amir Asif and Arash Mohammadi, "Formation-Containment Control Using Dynamic Event-Triggering Mechanism for Multi-Agent Systems," IEEE/CAA J. Autom. Sinica, vol. 7, no. 5, pp. 1235-1248, Sept. 2020. doi: 10.1109/JAS.2020.1003288
Citation: Amir Amini, Amir Asif and Arash Mohammadi, "Formation-Containment Control Using Dynamic Event-Triggering Mechanism for Multi-Agent Systems," IEEE/CAA J. Autom. Sinica, vol. 7, no. 5, pp. 1235-1248, Sept. 2020. doi: 10.1109/JAS.2020.1003288

Formation-Containment Control Using Dynamic Event-Triggering Mechanism for Multi-Agent Systems

doi: 10.1109/JAS.2020.1003288
Funds:  This work was partially supported by the Natural Sciences and Engineering Research Council (NSERC) of Canada through the NSERC Discovery (RGPIN-2016-04988)
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  • The paper proposes a novel approach for formation-containment control based on a dynamic event-triggering mechanism for multi-agent systems. The leader-leader and follower-follower communications are reduced by utilizing the distributed dynamic event-triggered framework. We consider two separate sets of design parameters: one set comprising control and dynamic event-triggering parameters for the leaders and a second set similar to the first one with different values for the followers. The proposed algorithm includes two novel stages of co-design optimization to simultaneously compute the two sets of parameters. The design optimizations are convex and use the weighted sum approach to enable a structured trade-off between the formation-containment convergence rate and associated communications. Simulations based on non-holonomic mobile robot multi-agent systems quantify the effectiveness of the proposed approach.

     

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  • 1 To improve comprehension, common notation used for leaders and followers is intentionally kept the same in Theorems 2 and 3. For example, $ {\bf{\Xi}} $ in Theorem 2 corresponds to the constraint matrix for the leaders. Likewise, $ {\bf{\Xi}} $ in Theorem 3 corresponds to the constraint matrix for the followers. The difference between them is evident from the context where the symbols are used.
    2 It should be noted that convergence within 1% of the initial disagreement (i.e., $ \delta \thinspace{ = }\thinspace 0.01 $ in (47)) provides a satisfactory level of formation-containment convergence in MAS (37). With $ \delta \thinspace{ = }\thinspace 0.01 $, formation-containment is achieved at $ t^\star \thinspace{ = }\thinspace 9.43 $ in this example. We run simulations using a higher accuracy of $ \delta \thinspace{ = }\thinspace 0.005 $ to better observe the differences between different examples.
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    Highlights

    • The paper proposes a novel approach for formation-containment control based on a dynamic event-triggering mechanism for general linear multi-agent systems. The leader-leader and follower-follower communications are reduced by utilizing a distributed dynamic event-triggered framework.
    • Two separate sets of design parameters are considered: (i) The first set comprises of the control and dynamic event-triggering parameters for the leaders, and; (ii) The second set is similar to the first one with different values for the followers. The proposed algorithm includes two novel stages of co-design optimization to simultaneously compute the two sets of parameters.
    • The design optimizations are convex and use the weighted sum approach to enable a structured trade-off between the formation-containment convergence rate and associated communications.

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