Distributed Self-triggered Circular Formation Control for Multi-robot Systems

Peng Xu, Xinyu Wang, Jin Tao, Guangming Xie, Minyi Xu, Quan Zhou

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

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This paper investigates circular formation control problems for multi-robot systems in the plane via a distributed self-triggered strategy. In scenarios of restricted energies, a distributed self-triggered protocol is designed for controlling multiple robots to converge asymptotically to a prescribed circular orbit around a fixed target. In particular, each robot maintains any desired relative angular distances during its rotation around the target. Besides, no collision among robots is taken place, since the spatial order of robots is preserved throughout the evolution. We prove that when the event-triggered condition is enforced during the whole process, the controllers only update with superior performance. Moreover, Zeno behavior can be ruled out. Numerical simulations demonstrate the feasibility and effectiveness of the theoretical results.

Original languageEnglish
Title of host publicationProceedings of the 39th Chinese Control Conference, CCC 2020
EditorsJun Fu, Jian Sun
Number of pages7
ISBN (Electronic)9789881563903
Publication statusPublished - Jul 2020
MoE publication typeA4 Article in a conference publication
EventChinese Control Conference - Virtual, Online
Duration: 27 Jul 202029 Jul 2020
Conference number: 39


ConferenceChinese Control Conference
Abbreviated titleCCC
CityVirtual, Online


  • Circular Formation
  • Directed Network
  • Multi-robot Systems
  • Self-triggered


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  • Jin Tao

    Tao, J.


    Project: Academy of Finland: Other research funding

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