Distributed Safety Formation Tracking Control for Multi-Agent Systems with Dynamic Event-Triggered Mechanism

This paper investigates the problem of distributed safety formation tracking control for multi-agent systems under resource constraints. A novel distributed event-triggered control strategy is proposed to simultaneously guarantee safety and formation tracking based on a dynamic event-triggered mechanism (DETM) and high order control barrier functions (HOCBF). In particular, a distributed DETM tailored for multi-agent systems is integrated into the controller while communication frequency and computational burdens are effectively reduced. Also, a dual-layer safety assurance framework is presented in the context of physical constraints. In this framework, a nominal formation controller undergoes modification through HOCBF-based quadratic programs, which is strictly invoked on-demand by the DETM to inherently exclude Zeno behavior. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control strategy.