Details

Autor(en) / Beteiligte

• Ma, Hong-Jun
• Yang, Guang-Hong
• Chen, Tongwen

Titel

Event-Triggered Optimal Dynamic Formation of Heterogeneous Affine Nonlinear Multiagent Systems

Ist Teil von

• IEEE transactions on automatic control, 2021-02, Vol.66 (2), p.497-512

Ort / Verlag

New York: IEEE

Erscheinungsjahr

2021

Quelle

IEEE Electronic Library (IEL)

Beschreibungen/Notizen

• This article studies an optimal dynamic formation problem for heterogeneous affine nonlinear systems. The nonidenticality in agents and the requirement for dynamic spatial reconfiguration make it a challenging task to coordinate different types of agents to maintain an optimized formation shape. In an architecture of event-triggered decision and control, this article investigates how to fulfill dynamic formation by distributively optimizing a team cost function. The basic idea is to design a decision unit for each agent to generate an implicit trajectory as a servo signal, based on which a control unit is designed with a displacement-gradient-based law to achieve the desired local solution. Typical heterogeneous characteristics including different nonlinearities and nonidentical dimensions are dealt with in a unified framework. It is shown that with the proposed triggering mechanisms, the optimal dynamic formation problem can be solved by a distributed control law with only intermittent communication. In theory, the properties of convergence of trajectory tracking errors, optimality of the team solution, and Zeno-freeness of event-triggered mechanisms are proved. Two simulation examples are given to verify the proposed method.