Decentralized event-triggered circle formation control for multiagent systems via synchronous periodic event detection

This paper investigates circle formation problem of multiagent systems over a kind of strongly connected and weight-unbalanced directed graphs. To solve the concerned problem, decentralized periodic event-triggered algorithms subject to or not to time delays are proposed, which have the advantages of decreasing the overall burden of the network in terms of finite communication and control input updates. In such algorithms, each agent independently evaluates whether the locally sampled information of itself should be broadcasted to or not to its neighbors. Furthermore, another advantage of our proposed algorithms is to automatically exclude Zeno behavior, which should be seriously considered in a variety of event-based network systems. Sufficient conditions on circle formation control are derived under which the states of all agents can be ensured to converge to some desired equilibrium point. Simulation results are given to validate the effectiveness of the proposed methods.