Distributed event-triggered control for multi-agent formation stabilization

Christophe Viel (1) , Sylvain Bertrand (1) , Michel Kieffer (2, 3, 4) , Hélène Piet-Lahanier (1)

1 ONERA - The French Aerospace Lab [Palaiseau]
2 L2S - Laboratoire des signaux et systèmes
3 LTCI - Laboratoire Traitement et Communication de l'Information
4 IUF - Institut Universitaire de France

This paper addesses the problem of formation control in multi-agent systems (MAS) and adopts an event-triggered strategy to reduce the number of communications between agents. For that purpose, to evaluate its control input, each agent maintains estimators of the states of the other agents. Communication is triggered when the discrepancy between the actual state of an agent and its estimate reaches some threshold. The impact of additive state perturbations is studied. A condition for the convergence of the MAS to a stable formation is studied. Simulations show the effectiveness of the proposed approach.

Keywords: formation stabilization; event-triggered control; MAS; Communication constraints

Domains: Signal and Image Processing; Networking and Internet Architecture [cs.NI]; Automatic Control Engineering

Christophe Viel, Sylvain Bertrand, Michel Kieffer, Hélène Piet-Lahanier. Distributed event-triggered control for multi-agent formation stabilization. IFAC 2017 - 20th World Congress of the International Federation of Automatic Control, Jul 2017, Toulouse, France. ⟨hal-01576630⟩