Dynamic event-triggered formation control of second-order nonholonomic systems

doi:10.23919/JSEE.2023.000049

Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (2): 501-514.doi: 10.23919/JSEE.2023.000049

• CONTROL THEORY AND APPLICATION • Previous Articles

Dynamic event-triggered formation control of second-order nonholonomic systems

Xiaoyu WANG¹(), Sijia SUN¹(), Feng XIAO¹^,²^,*(), Mei YU¹()

¹ School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China
² State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources, North China Electric Power University, Beijing 102206, China

Received:2022-09-30 Online:2023-04-18 Published:2023-04-18
Contact: Feng XIAO E-mail:xiaoyu_wang@ncepu.edu.cn;Sunsj1998@163.com;fengxiao@ncepu.edu.cn;meiyu@ncepu.edu.cn
About author:
WANG Xiaoyu was born in 1994. She received her B.S. degree in mathematics from Qufu Normal University, Ji’ning, China, in 2017, and M.S. degree in mathematics from Qingdao University, Qingdao, China, in 2020. She is currently pursuing her Ph.D. degree with North China Electric Power University, Beijing, China. Her research interests include coordination of multi-agent systems, formation control, and event-triggered control. E-mail: xiaoyu_wang@ncepu.edu.cn

SUN Sijia was born in 1998. He received his B.S. degree in automation from Nanchang Hangkong University, Nanchang, China, in 2020. He is currently pursuing his master degree with North China Electric Power University, Beijing, China. His research interests include coordination of multi-agent systems and formation control. E-mail: Sunsj1998@163.com

XIAO Feng was born in 1978. He received his B.S. and M.S. degrees in mathematics from Inner Mongolia University, Hohhot, China, in 2001 and 2004, respectively, and Ph.D. degree in systems and control from Peking University, Beijing, China, in 2008. In 2008, he became a faculty member with the School of Automation, Beijing Institute of Technology, Beijing, China. From June 2010 to May 2013, he was a postdoctoral fellow with the Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, Canada. From January 2016 to January 2017, he was a visiting professor with the Department of Mechanical Engineering, University of Victoria, Victoria, BC, Canada. He was a professor with the Harbin Institute of Technology, Harbin, China. He is currently a professor with the School of Control and Computer Engineering, North China Electric Power University, Beijing, China. His research interests include group intelligence, coordination control, and networked systems. E-mail: fengxiao@ncepu.edu.cn

YU Mei was born in 1975. She received her M.S. degree in automation from Qufu Normal University, Qufu, China, in 2002, and Ph.D. degree from Peking University, Beijing, China, in 2005. She has been an associate professor with the School of Control and Computer Engineering, North China Electric Power University, Beijing, since 2009. Her research interests include new energy grid connection modeling and analysis, multiagent systems, and networked control systems. E-mail: meiyu@ncepu.edu.cn
Supported by:
This work was supported by the Beijing Natural Science Foundation (4222053)

Abstract

Abstract:

In this paper, the formation control problem of second-order nonholonomic mobile robot systems is investigated in a dynamic event-triggered scheme. Event-triggered control protocols combined with persistent excitation (PE) conditions are presented. In event-detecting processes, an inactive time is introduced after each sampling instant, which can ensure a positive minimum sampling interval. To increase the flexibility of the event-triggered scheme, internal dynamic variables are included in event-triggering conditions. Moreover, the dynamic event-triggered scheme plays an important role in increasing the lengths of time intervals between any two consecutive events. In addition, event-triggered control protocols without forward and angular velocities are also presented based on approximate-differentiation (low-pass) filters. The asymptotic convergence results are given based on a nested Matrosov theorem and artificial sampling methods.

Key words: nonholonomic system, dynamic event-triggered control, consensus-based formation

Xiaoyu WANG, Sijia SUN, Feng XIAO, Mei YU. Dynamic event-triggered formation control of second-order nonholonomic systems[J]. Journal of Systems Engineering and Electronics, 2023, 34(2): 501-514.

Figures/Tables 11

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Parameter	Agent 1	Agent 2	Agent 3	Agent 4
$x_i(0)/{\rm{m}}$	4	−2	2	6
$y_i(0)/{\rm{m}}$	8	8	−2	−2
$\theta_i(0)/{\rm{rad}}$	$\dfrac{\text{π}}{11}$	$-\dfrac{4\text{π}}{5}$	$-\dfrac{\text{π}}{6}$	$\dfrac{\text{π}}{4}$
$v_i(0)/({\rm{m/s}})$	0.001	0.002	0	0.003
$\omega_i(0)/({\rm{rad/s}})$	0.05	0.06	0.08	0.03
$\Delta_{x_i}/{\rm{m}}$	2	−2	−2	2
$\Delta_{y_i}/{\rm{m}}$	2	2	−2	−2

Dynamic event-triggered formation control of second-order nonholonomic systems

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