Distributed Adaptive Event-Triggered TVGF for Generic Linear Multi-Agent Systems Under Directed Graph

This brief investigates event-triggered time-varying grouping formation (TVGF) problem for generic linear homogeneous multi-agent systems under directed graphs. A distributed adaptive event-triggered TVGF algorithm is proposed to ensure that the goal of TVGF can be achieved and the communication frequency between agents is reduced. Compared with previous formation control methods, the algorithm presented in this brief can complete the group formation task while saving communication energy. In addition, the algorithm’s dependence on global network information is also eliminated by using adaptive techniques. Finally, the availability of the proposed control law is established by numerical simulation.