Distributed Safety Formation Tracking Control for Multi-Agent Systems with Dynamic Event-Triggered Mechanism

Distributed Safety Formation Tracking Control for Multi-Agent Systems with Dynamic Event-Triggered Mechanism | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Distributed Safety Formation Tracking Control for Multi-Agent Systems with Dynamic Event-Triggered Mechanism Zizhen Guo, Lijun Long This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-9092945/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract This paper investigates the problem of distributed safety formation tracking control for multi-agent systems under resource constraints. A novel distributed event-triggered control strategy is proposed to simultaneously guarantee safety and formation tracking based on a dynamic event-triggered mechanism (DETM) and high order control barrier functions (HOCBF). In particular, a distributed DETM tailored for multi-agent systems is integrated into the controller while communication frequency and computational burdens are effectively reduced. Also, a dual-layer safety assurance framework is presented in the context of physical constraints. In this framework, a nominal formation controller undergoes modification through HOCBF-based quadratic programs, which is strictly invoked on-demand by the DETM to inherently exclude Zeno behavior. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control strategy. multi-agent systems physical constraints safety formation tracking control event-triggered mechanism Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-9092945","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":610322563,"identity":"0290f673-5a9e-4124-9e85-e82ca7e94d75","order_by":0,"name":"Zizhen Guo","email":"","orcid":"","institution":"Northeastern University","correspondingAuthor":false,"prefix":"","firstName":"Zizhen","middleName":"","lastName":"Guo","suffix":""},{"id":610322564,"identity":"7c9a82c8-9715-4e3b-a94c-ebe043267aa4","order_by":1,"name":"Lijun Long","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA/klEQVRIiWNgGAWjYBACPhDxwICNgYG9sQEuKoFPCxuISABp4TlIkhawsgSEKH4t7L2HXyQU8CVul3zc/OEDwx05gwPMB2/zMNjl4dTCcy7NAuiwxJ2zE9skZzA8MzY4wJZszcOQXIxTi0SOmQFIy4bbiW3MPAyHEzcc4DGT5mE4kNhAUMvNg82f/zAcrt9wgP8bIS3GD8BabjA2SDMwHE4wOMDDhl8LzxkzUCAbbzgD9EuPwWHDmYfZjC3nGCTj1MLP3mP84cOfY7Ibjh9//OFHxWF5vuPND2+8qbDDqQXsNgaGY1C2ARAzwxi4AfMHBoYavCpGwSgYBaNghAMAz8lU/ACGoDUAAAAASUVORK5CYII=","orcid":"","institution":"Northeastern University","correspondingAuthor":true,"prefix":"","firstName":"Lijun","middleName":"","lastName":"Long","suffix":""}],"badges":[],"createdAt":"2026-03-11 10:10:50","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-9092945/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-9092945/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":107041942,"identity":"2b7e9cf0-23c9-4069-a7b8-96cf96766b3b","added_by":"auto","created_at":"2026-04-16 06:27:20","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":594481,"visible":true,"origin":"","legend":"","description":"","filename":"Latex.pdf","url":"https://assets-eu.researchsquare.com/files/rs-9092945/v1_covered_78c379be-8086-466c-89c4-97feebe0d939.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Distributed Safety Formation Tracking Control for Multi-Agent Systems with Dynamic Event-Triggered Mechanism","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"multi-agent systems, physical constraints, safety formation tracking control, event-triggered mechanism","lastPublishedDoi":"10.21203/rs.3.rs-9092945/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-9092945/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"This paper investigates the problem of distributed safety formation tracking control for multi-agent systems under resource constraints. 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