Abstract: This paper is concerned with the scaled formation control problem for multi-agent systems (MASs) over fixed and switching topologies. First, a modified resilient dynamic event-triggered (DET) mechanism involving an auxiliary dynamic variable (ADV) based on sampled data is proposed. In the proposed DET mechanism, a random variable obeying the Bernoulli distribution is introduced to express the idle and busy situations of communication networks. Meanwhile, the operation of absolute value is introduced into the triggering condition to effectively reduce the formation error. Second, a scaled formation control protocol with the proposed resilient DET mechanism is designed over fixed and switching topologies. The scaled formation error system is modeled as a time-varying delay system. Then, several sufficient stability criteria are derived by constructing appropriate Lyapunov–Krasovskii functionals (LKFs). A co-design algorithm based on the sparrow search algorithm (SSA) is presented to design the control gains and triggering parameters jointly. Finally, numerical simulations of multiple unmanned aerial vehicles (UAVs) are presented to validate the designed control method.

Key words: Scaled consensus; Formation control; Dynamic event-triggered scheme; Switching topology

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