Decentralized event-triggered control for rigid formation tracking

In this paper, decentralized event-triggered controllers are designed for the rigid formation tracking problem, where the target formation is minimally and infinitesimally rigid and the desired velocity of the group is available only to a subset of the agents. Two cases are considered: the desired velocity is constant, and the desired velocity is time-varying. In the first case, an event-triggered distributed linear estimator is constructed for each agent to estimate the desired velocity. In the second case, an event-triggered distributed non-smooth estimator is constructed to estimate the time-varying velocity, which is shown to converge in finite-time. An event-triggered formation acquisition term is also designed, together with the velocity estimator to be the control inputs for the agents. The decentralized trigger conditions are given. Theoretical analysis shows that the rigid formation tracking problem can be solved under the decentralized event-triggered controller.