Bearing-Only Formation of Multi-Agent Systems via Edge-Based Event-Triggered Control

The event-triggered bearing-only formation of leader-following multi-agent systems is studied in this paper. Based on the neighboring bearing information at event-triggering time instants, the edge-based event-triggered scheme for stationary formation is designed. The event-triggering time instants are iteratively determined by a combined technique, where the Zeno-behavior can be avoided directly. A sufficient condition for achieving formation is presented under the assumption that there is no collision among agents. Finally, the numerical simulation is given to illustrate the effectiveness of the theoretical results.