Formation Control of Second-Order Nonholonomic Systems with a Novel Model-Based Event-Triggered Mechanism

The formation control problem of second-order nonholonomic systems formulated by a force-balance equation is investigated with network communication constraints. A novel event-triggered mechanism based on polynomial interpolation predictive models is presented. To address the stabilization obstacles imposed by the nonholonomic constraints, persistently exciting (PE) functions are utilized to design the distributed control protocols. Under the designed event-triggered mechanism, the system does not exhibit Zeno behavior. Sufficient conditions for second-order nonholonomic systems to achieve stable formation are obtained based on Barbalat’s lemma. Finally, numerical examples are provided to demonstrate the effectiveness of the proposed results.