Event-Triggered ℓ2-Optimal Formation Control for Agents Modeled as LPV Systems

This paper proposes a novel approach to event-triggered formation control for homogeneous, non-holonomic multi-agent systems with undirected interaction topology, where the non-holonomic vehicle dynamics are represented by poly-topic linear-parameter-varying (LPV) models. The proposed event-triggered strategy is able to reduce the communication cost by transmitting information only when needed. To maintain a formation, each agent is equipped with an inner state-feedback loop that is time-triggered, while an outer position loop is closed by each agent individually through the communication network whenever a local trigger condition is satisfied. The control strategy can be implemented in a distributed manner; the trigger condition is based only on locally available information. The proposed method allows to simultaneously design a controller and a trigger level that guarantee stability and a bound on the overall ℓ
2
performance of the network. The synthesis problem is formulated as an LMI problem. Under the additional assumption that the agents are homogeneously scheduled, the synthesis problem can be decomposed to reduce its complexity to the size of a single agent, regardless of the number of agents, without degrading the performance. The effectiveness of the results is illustrated in a simulation scenario with non-holonomic agents modeled as dynamic unicycles.