Leaderless maneuver guidance and event-triggered formation control for distributed multi-space-robot systems

In this paper, the distributed displacement-based formation and leaderless maneuver guidance control problems of multi-space-robot systems are investigated by introducing event-triggered update mechanism. A framework is first constructed, which includes two parallel controllers, namely an improved linear quadratic regulator a consensus-based controller. By applying framework, desired configuration can be achieved center converge to target point globally. Second, pull-based event triggering mechanism introduced controller, makes independent events neighboring robots, avoids unnecessary updates, saves extremely limited energy space robots. Furthermore, potential Zeno behaviors have been excluded proving positive lower bound for inter-event times. Finally, numerical simulation verifies effectiveness theoretical results.