Event-triggered circle formation control of multi-agent systems

Event-triggered circle formation control problems of multi-agent systems are investigated in this paper. We assume all the agents move on a given circle and each agent can only sense the relative positions of the two agents that are immediately in front of or behind itself. The circle formation control problem is to design distributed control laws such that all the agents asymptotically converge to prefer desired relative positions after autonomous moving. In this paper, an event-triggered control law is proposed to solve the circle formation control problem and the convergence of the control law is proved. Some numerical simulations are given to show the effectiveness of the obtained event-triggered control law.