Event-triggered probability-driven adaptive formation control for multiple elliptical agents

Abstract

In this article, an event-triggered control scheme is proposed for a group of elliptical agents to achieve a predefined formation. The agents are assumed to have the same dynamics, and the control law for each agent is only updated at its event sequence based on its own minimum collision time and deviation time. The probability-driven controller is designed to prevent the stuck problem among agents. Mapping-adaptive strategy and angle-adaptive scheme based on the minimum collision distance are also developed. Two examples are presented to analyze and demonstrate the effectiveness and potential of the new eventtriggered adaptive control algorithm.