Adaptive Model-Free Formation Control for Multiple-Agent Under Event- Triggered Mechanism

In this article, a distributed model-free mode control strategy combined with event-trigger mechanism is proposed to solve the problem of complex interaction, limited communication range, random link packet loss and unknown dynamics for multi agents cooperation while avoiding obstacle collision. Firstly, the event driven decision-making strategy is established under the conditions, which include random link packet loss or collision event is triggered, which can effectively reduce a large amount of communication and improve resource utilization between agents. Secondly, a random link packet loss compensation mechanism is designed using the output information from neighbors at the time of the previous event trigger. This is then combined with the event-driven communication mechanism to design a distributed control strategy and analyze the convergence performance of the tracking error. Finally, simulation results demonstrate the effectiveness and robustness of proposed control strategy.