Event-Triggered Time-Varying Formation Control for Discrete-Time Multi-Agent Systems with Communication Delays

This paper investigates formation control for the second-order discrete-time multi-agent systems with communication delays. A protocol based on the event-triggered mechanism is raised, and the corresponding triggering condition is designed in this study. An agent transfers its states to its neighbors only if its triggering condition is met. Compared to the conventional protocol, the designed protocol of this study significantly decreases the communication frequency and improves the communication efficiency. Besides, the system stability is analyzed by problem transformation, formation control is converted into consensus control, and it is proved that the expected formation can be arrived under the designed protocol. Finally, a regular pentagon formation is regarded as a simulation example to conform the feasibility of this algorithm.