Event-triggered control for obstacle avoidance in second-order nonlinear multi-agent systems with directed graph

In this paper, we study the obstacle avoidance problem of second-order nonlinear multi-agent systems (MASs) with directed graph based on event-triggered control. Firstly, the consensus requirement is accomplished by using the eventtriggered consensus algorithm, and experiments are given for verification. Secondly, an improved artificial potential field (IAPF) method is proposed to solve the obstacle avoidance problem, and comparison experiments are made, from which the experimental results show that the IAPF method is significantly better than the traditional artificial potential field (TAPF) method under the same conditions.