Event-Triggered Multitarget Formation Control for Multiagent Systems

Figure 1

(a) Selecting result of the original algorithm. (b) Selecting result of the improved algorithm with an increment . (c) Selecting result of the improved algorithm based on event-triggered mode. (d) Response of the system when increasing a new target. (e) under time-triggered control model. (f) under time-triggered control model. (g) under event-triggered control model. (h) under event-triggered control model. (i) Input under time-triggered control model. (j) Input under event-triggered control model. (k) Construction of formation control. (l) Deviation value and event-triggered value .

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