Periodic Dynamic Event-Triggered Cluster Formation Control of Multi-agent Systems

The problem of cluster formation for agents with limited communication resources is discussed. First, we proposed the distributed dynamic event-triggered communication mechanism is raised to decrease some needless data exchanges among multi-agents. Different from some existing static event-triggered communication mechanisms (DECM). This method introduces an auxiliary parameter for each agent to dynamically adjust its threshold. Second agents in the system are break up into M nonoverlapping and different clusters. Each group of agents achieve the desired formation as far as possible, whereas the multi-agent systems accomplishes formation. Third, dynamic event-triggering mechanisms, a distributed control cluster formation protocol is proposed. Finally Simulation is used to verify the correctness of the theory.