Flocking of Multi-Agent System with Nonlinear Dynamics via Distributed Event-Triggered Control

• Main Authors: Yanhua Shen, Zhengmin Kong, Li Ding
• Format: Article
• Language: English
• Published: MDPI AG 2019-03-01
• Series: Applied Sciences
• Subjects: multi-agent system; distributed event-triggered control; flocking; nonlinear dynamics
• Online Access: https://www.mdpi.com/2076-3417/9/7/1336

In this paper, a distributed event-triggered control strategy is proposed to investigate a flocking problem in a multi-agent system with Lipschitz nonlinear dynamics, where triggering conditions are proposed to determine the instants to update the controller. A distributed event-triggered control law with bounded action function is proposed for free flocking. It is proved that the designed event-triggered controller ensures a group of agents reach stable flocking motion while preserving connectivity of the communication network. Lastly, simulations are provided to verify the effectiveness of the theoretical results.