Event-triggered affine formation maneuver control for second-order multi-agent systems with sampled data

This paper addresses the affine formation maneuver problem for second-order multi-agent systems with distributed event-triggered controllers. For multiple leaders moving with constant accelerations, a sampled-data-based event-triggered proportional–integral controller is proposed to reduce the frequencies of controller update, where triggering moments are determined by the relative states between agent and its neighbors. Moreover, based on the proposed event-triggered control scheme, a self-triggered mechanism is designed to avoid continuous measurements for relative states and continuous calculating of local events at each discrete moment. Some sufficient conditions for achieving affine formation maneuver control are obtained and the Zeno behavior is naturally eliminated due to periodic sampling setting. Finally, the theoretical results are illustrated through numerical simulations.