SCIENCE CHINA Information Sciences, Volume 60, Issue 11: 110203(2017) https://doi.org/10.1007/s11432-017-9109-9

Event-triggered encirclement control of multi-agent systems with bearing rigidity

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  • ReceivedApr 6, 2017
  • AcceptedMay 17, 2017
  • PublishedSep 25, 2017


In recent years, the problem of multi-agent encirclement has attained much attention and was extensively studied. However, few work consider the factor that the on-board calculation as well as the communication capacity in the multi-agent system is limited. We investigate the encirclement control by employing the newly developed bearing rigidity theory and event-triggered mechanism. Firstly, in order to reduce the onboard loads, the event-triggered mechanism is considered in the framework and further an event-triggered control law based on bearing rigidity is proposed. The input-to-state stability (ISS) of networked agents is also analyzed by using the Lyapunov method and the cyclic-small-gain theory. In addition, the lower bound for the inter-event times is provided. Finally, to verify the efficiency and feasibility of the proposed encirclement control law, numerical experiments are investigated.


This work was supported by National Natural Science Foundation of China (Grant Nos. 61473005, 61403406).


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