Event-Triggered Optimal Dynamic Formation of Heterogeneous Affine Nonlinear Multiagent Systems

• 成果类型: Article
• 署名作者: Ma, Hong-Jun; Yang, Guang-Hong; Chen, Tongwen
• 署名单位: Northeastern University; University of Alberta
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2983108
• 发表日期: 2021
• 页码: 497-512
• 关键词: Distributed optimization; dynamic formation; event-triggered decision and control; heterogeneous agents

摘要

This article studies an optimal dynamic formation problem for heterogeneous affine nonlinear systems. The nonidenticality in agents and the requirement for dynamic spatial reconfiguration make it a challenging task to coordinate different types of agents to maintain an optimized formation shape. In an architecture of event-triggered decision and control, this article investigates how to fulfill dynamic formation by distributively optimizing a team cost function. The basic idea is to design a decision unit for each agent to generate an implicit trajectory as a servo signal, based on which a control unit is designed with a displacement-gradient-based law to achieve the desired local solution. Typical heterogeneous characteristics including different nonlinearities and nonidentical dimensions are dealt with in a unified framework. It is shown that with the proposed triggering mechanisms, the optimal dynamic formation problem can be solved by a distributed control law with only intermittent communication. In theory, the properties of convergence of trajectory tracking errors, optimality of the team solution, and Zeno-freeness of event-triggered mechanisms are proved. Two simulation examples are given to verify the proposed method.