Distributed event-triggered robust adaptive formation control of multi-agent rigid bodies on $$TSE(3)^N$$

Abstract

Abstract The study introduces a distributed robust adaptive event-triggered methodology for formation control of multi-agent rigid bodies within the $$TSE(3)^N$$ framework, utilizing bearing vector measurements. The rigid body’s mass and moment of inertia are treated as unknown but bounded, with an adaptive law designed to estimate these parameters. A time-varying yet bounded disturbance is assumed to influence each rigid body. The robust adaptive control law is adapted to event-triggered scenarios to mitigate communication demands across the network. The communication topology is undirected. A rigorous mathematical proof demonstrates that tracking errors converge exponentially to a residual set. Numerical simulations validate the proposed approach, and a comparative discussion with existing literature is provided.