Event-Triggered Control for Nonlinear Uncertain Second-Order Multi-Agent Formation with Collision Avoidance

In this paper, we investigate the robust formation control of nonlinear uncertain second-order multi-agent systems with guaranteed collision avoidance. A novel event-triggered control algorithm together with event-triggered mechanism is designed to significantly reduce the control updating and eliminate continuous communication between agents. The model uncertainties and external disturbances are estimated in finite time by the continuous robust integral of sign of the error (RISE)-based observer. Moreover, inter-agent collisions and obstacles are avoided through incorporating artificial potential function approach into the formation control scheme. Based on the Lyapunov method and graph theory, sufficient conditions on multi-agent formation stability, robustness against perturbations, collision avoidance, and Zeno behavior elimination are derived. The simulation results finally are given to validate the performance of our approach.