A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 7 Issue 5
Sep.  2020

IEEE/CAA Journal of Automatica Sinica

• JCR Impact Factor: 6.171, Top 11% (SCI Q1)
CiteScore: 11.2, Top 5% (Q1)
Google Scholar h5-index: 51， TOP 8
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Article Contents
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.

# 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)
• 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.

• 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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###### 通讯作者: 陈斌, bchen63@163.com
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沈阳化工大学材料科学与工程学院 沈阳 110142

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