Event-Triggered Formation Control for General Linear Discrete-Time Multi-Agent Systems with Obstacle Avoidance

With the popularization and development of the swarm concept, formation control problems for multi-agent systems (MASs) have become a hot issue. While, the existence of obstacles and other agents in space has always posed a great threat to formation movement. In this paper, the time-varying formation control is studied for general linear discrete-time MASs with communication and spatial constraints. First, considering the limited communication resources and the inability of continuous messages exchanges in practical systems, an event-triggered formation protocol for general linear discrete-time MASs is proposed. Then, on the basis of this protocol, considering the existence of obstacle constraints, an improved protocol with obstacle avoidance combined with artificial potential field method is proposed. Finally, these two protocols are applied to an unmanned aerial vehicles (UAVs) models swarm for verifications. Utilize Matlab to mathematically model the UAVs and numerically verify the effectiveness of protocols.