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Mathematical Problems in Engineering
Volume 2017, Article ID 1318376, 8 pages
Research Article

Event-Triggered Multitarget Formation Control for Multiagent Systems

1Institute of Electrical Engineering, Yanshan University, Qinhuangdao 066004, China
2Institute of Mathematics and Information Technology, Hebei Normal University of Science and Technology, Qinhuangdao 066004, China
3School of Electronic and Electric Engineering, Shanghai Jiaotong University, Shanghai 200240, China

Correspondence should be addressed to Lingmin Zhang; moc.361@9999nimgnil

Received 23 June 2017; Revised 22 October 2017; Accepted 22 October 2017; Published 5 December 2017

Academic Editor: Leonid Shaikhet

Copyright © 2017 Lingmin Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The problems of multitarget selection and formation for multiagent systems are considered. First of all, an improved multitarget selection method based on auction algorithm is proposed such that each agent can automatically choose its target, and during the process of choosing targets, we apply an event-triggered mode to reduce the communication links between agents. Second, in view of the fact that all agents with the same target need to form a desired formation shape, we provide an event-triggered formation controller for each agent. Finally, we carry out the simulation experiment of the algorithm and the simulation results have illustrated the effectiveness of it.