Self-triggered adaptive control for multi-agent systems with timed constraints and connectivity maintenance
María Guinaldo, Dimos V. Dimarogonas · IFAC-PapersOnLine · 2020
This paper presents a distributed control strategy for a multi-agent system commanded by a set of leaders that has to accomplish a high-level plan consisting of a sequence of tasks specified by a state-space region and a timed constraint. The agents are also subject to relative-distance constraints with its neighbors. The solution consists in an adaptive distributed mechanism to update the feedback gains for the leader agents, which is executed following a self-triggered algorithm. The results show how the proposed approach provides less conservative results than if feedback gains are held constant, and are illustrated with a simulation example.