Relative-Based Finite-Time Formation Stabilization for Multi-Agent Systems via Asynchronous Event-Triggered Approach

This paper discuss the finite-time formation problem for multi-agent systems via Asynchronous Event-triggered approach. Firstly, a distributed translational formation control stratagy for finite-time convergence in any Euclidean space is developed. It introduces the sliding mode control to steer all agents into an affine image and achieves translational formations by adding few extra steering laws. On the other hand, a crucial challenge in most practical scenarios is the high interaction pressure of state information between agents. A distributed and discontinuous event-triggered control technique is adopted to reduce the communication frequency and the calculation resources, which is more suitable for the practicablity and discreteness. Zeno-free behavior is turned out. Finally, one numerical example proves the effectiveness of the proposed method.