Distributed Event‐Triggered Circle Formation Control for Multiagent Systems with Nonuniform Quantization

Abstract

This article focuses on circle formation control problem of multiagent systems based on event-triggered strategy under limited communication bandwidth. In such system, each agent can only perceive the angular distance of its nearest neighbor in the counterclockwise direction, and the angular distance of the nearest neighbor in the clockwise direction needs to be obtained by communicating with each other. In order to address the aforementioned problem, a novel distributed algorithm based on the combination of nonuniform quantitative communication technology and event-triggered control is proposed. Sufficient conditions on circle formation control are derived under which the states of all agents can be confirmed to converge to some desired equilibrium point. Different from the traditional uniform quantization communication framework, nonuniform quantization can be beneficial for handling small signals and improving the performance of multiagent systems concerned. Furthermore, under the proposed policy, all the designed quantizers do not emerge saturated. Numerical simulation results are provided to verify the effectiveness of the proposed algorithm.

A Survey on Techniques in the Circular Formation of Multi-Agent Systems

“…Further, [210] addressed the ETC-based CFP for a group of anonymous mobile robots with restricted computational and communication abilities. Recently, a novel co-design combination of nonuniform quantization and ETC mechanism is designed in [211] to solve the ETC-based CFP. In [212], ETC mechanisms are proposed for an under-actuated ASV to circumnavigate a moving target whose velocity is unknown.…”