Treffer: Event-triggered affine formation of second-order multi-agent systems via complex-valued Laplacian.

This paper investigates event-triggered affine formation control of second-order multi-agent systems with directed communication graph. An approach based on complex-valued Laplacian is used as a means of avoiding the use of global information. Two event-triggered strategies are proposed, both of which are capable of achieving global convergence and forming the desired formation without Zeno-behavior, while also optimizing the utilization of resources. Moreover, the dynamic event-triggered strategy conserves more communication resources by comparison. Finally, a numerical simulation example is provided to demonstrate the effectiveness of the obtained conclusions. • The distributed event-triggered affine formation control of second-order MASs is investigated. • Both static and dynamic event-triggered affine formation control are considered. • In order to avoid using global information, the control method with use of complex-valued Laplacian is proposed. [ABSTRACT FROM AUTHOR]