通信时滞下事件驱动多智能体系统环形编队控制.

In order to solve the problem that communication and computing resources are consumed in the first order multiagent system circle formation with communication delay, this paper introduced an event-driven control mechanism, and designed the control law for arbitrary circle formation, which was coupling with state dependent and state independent event-driven conditions. Event-triggered function was based on state error, made the information transmission between two neighbor agents and the controller updates driven by properly defined events. It proved the convergence of the control law strictly and theoretically, and the numerical simulation validated the effectiveness of control algorithm. The simulation results also s how that the updating frequency of the controller and the resource consumption of the agent are reduced with the desired system performance. [ABSTRACT FROM AUTHOR]