Sampled-data-based Event-triggered Affine Formation Control for Multi-agent Systems with Intergrator Dynamics

In this paper, the affine formation control problem is adressed using event-triggered method based on the sample data. Individuals in this system has first-order dynamics. Two different methods basing on sampled information are developed respectively. Zeno behavior is excluded as a result of the sampling schemein. Continous communication is avoided in self-triggered strategy. It can be proved that affine formation is realized eventually under two proposed control schemes. Finally, numerical examples show the validity of proposed strategies.