Research Output
Data-Driven Event-Triggered Formation of MIMO Multiagent Systems With Constrained Information
  This article investigates the information congestion problems for nonlinear discrete-time multi-input–multi-output multiagent systems (MASs) with fading channels when executing formation tasks. We first establish a virtual linear data model with a time-varying pseudo-Jacobian matrix variable for the MASs, which is independent of the dynamics model. Then, we formulate an event-triggered control scheme and a predictive compensation method to alleviate the communication burden and information congestion effects, respectively. Moreover, we propose two formation schemes for the MASs, considering limited communication resources, fading channels, and random delays to perform formation control and bipartite formation control tasks. The convergences of these two control protocols are strictly proved. Finally, simulations and hardware tests are conducted to verify the effectiveness of the proposed strategies.

  • Type:


  • Date:

    24 August 2023

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  • Publisher

    Institute of Electrical and Electronics Engineers (IEEE)

  • DOI:


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  • Funders:

    111 project; Fundamental Research Funds for the Central Universities; Natural Science Research Project of Higher Education in Jiangsu Province; Discovery Grant from the Natural Sciences and Engineering Research Council of Canada


Zhao, H., Shan, J., Peng, L., & Yu, H. (2024). Data-Driven Event-Triggered Formation of MIMO Multiagent Systems With Constrained Information. IEEE Transactions on Systems, Man and Cybernetics: Systems, 54(1), 39-49.



Data-driven control (DDC), event-triggered (ET) control, fading channels, information congestion, multiagent systems (MAS)

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