Distributed formation control of networked passive systems with event-driven communication

This paper is focused on the formation control problem of networked passive systems with event-driven communication. The data transmissions between agents are event-based and distributed control laws to achieve formation under the event-driven communication strategy are obtained. We first derive a triggering condition to achieve distance-based formation among the agents with an ideal network model being assumed; we then consider the case when there are constant network induced delays between coupled agents. Simulations are provided to validate our results.