Distance-based formation shape stabilisation via event-triggered control

Existing results on distance-based rigid formation stabilization commonly require continuous measurements and control update. In this paper, we consider an event-triggered scheme for distance-based formation control problem. We prove the local exponential stability of this event-driven system for stabilizing formations which are infinitesimally and minimally rigid. Furthermore, we prove that Zeno-behavior does not exist and obtain a strict positive lower bound in the inter-event time. Simulations are also provided to verify the proposed controller.