Multi-agent rendezvous control based on event-triggered mechanism

Abstract

In this paper, we apply the multi-agent system event-triggered control to the multi-agent rendezvous control, and design the multi-agent event-triggered controller. Meanwhile, we utilize the multi-agent system model that the state of all agents converge to the specified point based on the proportional transformation of the balance point of the original state of the agents. By selecting a suitable Lyapunov function, we prove that all the agents' position can converge to the desired rendezvous position. After that, an event-triggered control strategy for multi-agent rendezvous control is introduced. Simulation experiment is designed to test the rationality of the control strategy.