Event Triggered and Self Triggered Formation Control of Multi Agent Systems
Lakshmi Sunil, Sera Mathew, Jeevamma Jacob, S. J. Mija · 2024
This paper discusses formation acquisition and maneuvering of multi agent systems incorporating different triggering mechanisms. Practical scenario often involves limited communication bandwidth. Addressing this limitation is crucial for achieving effective formation control of multi agent systems. Implementing suitable triggering mechanism may overcome this limitations. Event Triggered and Self Triggered strategies employing Lyapunov stability are proposed in this work. In case of event triggered mechanism, an event condition is evaluated to determine the triggered instant, whereas the next triggered instant is anticipated in advance for self triggered mechanism. Simulation results using a five-agent model illustrate the feasibility of the proposed methodologies with self triggered approach having an upper hand in terms of reduction in sensor burden.