基于事件触发的多智能体系统预设时间编队控制

To solve the problems of slow convergence rate and continuous controller updates in formation control, this paper proposes a prescribed-time formation control method based on event-triggering mechanism for second-order multi-agent systems. Based on a prescribed-time acceleration observer, the followers can estimate the acceleration state of leader within the prescribed time. Moreover, a prescribed-time formation controller based on the event-triggering mechanism is designed to enable the followers to keep up with the leader within the prescribed time. The event-triggering mechanism proposed avoids the continuous updates of controller. Through the rigorous theoretical analysis, it is proved that the proposed method can be used to achieve the prescribed-time formation control for the multi-agent systems without Zeno behavior. Simulated results indicate that the proposed prescribed-time formation control method based on the event-triggering mechanism can make the multi-agent systems form a desired formation configuration within a preset time, and reduce the update frequency of controller to save resources. The feasibility and extensibility of the proposed control method are further verified based on the formation flight test results of quadrotor UAVs.