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Distributed Escort Control of Multi-agent System with Intermittent Inter-agent Communication

Proceedings of 2021 5th Chinese Conference on Swarm Intelligence and Cooperative Control(2022)

Huazhong University of Science and Technology | Southeast University

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Abstract
Distributed formation control has broad application prospects for unmanned swarm systems in both military and civil fields, such as cooperative convey protection, cooperative offshore patrolling and surrounding, cooperative ocean resource exploration, and so on. In this paper, a distributed escort formation control strategy with dynamic intermittent inter-agent communication is proposed, where a group of networked agents are driven to convoy a team of leaders. The communication and actuator updating costs are decreased and the Zeno-free behavior is guaranteed with comprehensive theoretical analysis. Numerical examples are presented in the last section to show the feasibility of the designed control strategy.
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Key words
Distributed escort control,Event-triggered control,Distributed estimation
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