2014 年 18 巻 1 号 p. 71-77
This paper considers cooperative formation control on networked multi-agent systems, in which the mobile agents have limited resources. Two event-based strategies are introduced to reduce resource utilization and control actuation in formation control. In one strategy, the event trigger function is designed to use system state, whereas in the other, it is designed to use control input. Theoretical and experimental analyses of the pros and cons of the two strategies are given. In addition, the stabilities of the two event-triggered formation control laws are discussed. The results of simulations conducted confirm the feasibility and effectiveness of the proposed methods.