Event triggered formation control of multi-agent systems using discrete Laguerre function based Model predictive controller

This paper addresses the formation control problem of linear discrete-time multi-agent systems. A discrete Laguerre function-based model predictive control strategy which adopts the event-triggered algorithm is proposed. Parameterization of the control input utilizing the Laguerre function, alleviates the high computational burden that conventional model predictive control (MPC) imposes on real-time systems. With the objective of decreasing the frequency of communication between the agents, the power of event triggering algorithm is exploited in this paper to achieve the formation acquisition as well as maneuvering. Simulation is carried out on a system of five agents and it is verified that the proposed method is capable of reducing the computational complexity and communication instants in comparison with the existing time triggered approach.