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<p>In practical applications, multi-agent systems (MASs) formation control often faces various challenges. In this paper, a hybrid dynamic event-triggered circle formation control protocol is proposed and analyzed for MASs with incipient system uncertainties, external disturbances, actuator saturation, and limited resource constraints. First, a novel adaptive state and disturbance observer (ASDO) is designed to reliably estimate system states and eliminate the influence of external disturbances. Second, an observer-based hybrid dynamic event-triggered strategy (OBHDETS) is proposed, which not only reduces the communication frequency but also avoids the reliance on full states among agents. In addition, based on the linear convex hull method, the saturated nonlinear inputs in the system are represented as a convex combination of linear feedback. The proposed control protocol ensures that the uncertain MASs achieves formation control while maintaining desirable system performance, and guarantees that no agents exhibit Zeno behavior. Finally, simulation results validate the efficacy of the proposed control strategy.</p>

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Observer-based hybrid dynamic event-triggered circle formation control of uncertain multi-agent systems with actuator saturation and external disturbances

  • 期刊论文

  • 发表日期：

    2026年3月11日

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  • Baoxing Zhu,
  • Yinya Li,
  • Andong Sheng,
  • Guoqing Qi

摘要

In practical applications, multi-agent systems (MASs) formation control often faces various challenges. In this paper, a hybrid dynamic event-triggered circle formation control protocol is proposed and analyzed for MASs with incipient system uncertainties, external disturbances, actuator saturation, and limited resource constraints. First, a novel adaptive state and disturbance observer (ASDO) is designed to reliably estimate system states and eliminate the influence of external disturbances. Second, an observer-based hybrid dynamic event-triggered strategy (OBHDETS) is proposed, which not only reduces the communication frequency but also avoids the reliance on full states among agents. In addition, based on the linear convex hull method, the saturated nonlinear inputs in the system are represented as a convex combination of linear feedback. The proposed control protocol ensures that the uncertain MASs achieves formation control while maintaining desirable system performance, and guarantees that no agents exhibit Zeno behavior. Finally, simulation results validate the efficacy of the proposed control strategy.