Dynamic Event-Triggered Formation Control for Unmanned Aerial Vehicles

This paper presents a dynamic event-triggered communication mechanism to mitigate limited communication in multi-UAV systems. This mechanism aims to reduce resource consumption within these systems by enabling UAVs to communicate only when specific triggering conditions are met. Unlike static event-triggered communication mechanisms, our approach incorporates a dynamically adjusted triggering threshold through a carefully designed dynamic rule. As a result, the system performance is enhanced while communication resource utilization in multi-UAV systems is reduced. Building upon this dynamic event-triggered communication mechanism, we propose a distributed formation control strategy. Furthermore, we outline a criteria for designing the relevant control parameters. To validate the proposed approach, numerical simulation is conducted.