Dynamic Event-triggered Time-varying Formation Control for Discrete-time Multi-agent Systems

This paper addresses the problem of time-varying formation control for the second-order discrete-time multi-agent systems based on dynamic event-triggered strategy. Firstly, a novel dynamic event-triggered strategy is proposed to decide whether the current sampled data is transmitted to the neighbour network. In this case, the triggering threshold is constantly adjusted by using the dynamic rules. Secondly, the time-varying formation problem is converted to a consensus problem. It has been shown that with the designed protocol, the desired form can be achieved. Finally, The system stability is proved by using the Lyapunov second method.