Robust Rendezvous Control of Relative Constrained Linear Multi-Agent Systems: An Edge-based Event-Triggered Control Approach

In this paper, the rendezvous control of linear multi-agent systems(MASs) subject to relative constraints and disturbances is investigated. Different from the node-based method in the literature, an event-triggered control scheme based on the edge Laplacian framework is constructed. Under the edge framework, the rendezvous problem can be easily solved by stabilizing the equilibrium of the corresponding edge system to zero. Then the relative state constraint is equivalent to the constraints on the edge state dynamics, and can be satisfied by restraining it to a invariant constrained set. Finally, an edge-based event-triggered controller with both disturbances compensation and constraints satisfaction is designed. System stability is proved by Lyapunov stability theory, the Zeno-behaviour phenomenon is also avoided. Numerical example shows the effectiveness of the results.