Event-Triggered Cooperative Formation Control for Multi-Agent System with Dynamic Role Assignment
Shuang Wu, Yuanqing Xia, Yu Luo, Min Lin · 2019
In this paper, event-triggered formation control law with dynamic role assignment is investigated for multi-agent system. First, based on the traditional consensus algorithm and the future use of embedded microprocessors with limited resources, we propose an event-triggered control law to update the controller. Second, in order to assign each agent to the closest formation point, an efficient dynamic role assignment solution is proposed by solving an optimal problem with Hungarian algorithm. The results are illustrated through simulation examples.