Matrix Pencil-Based Dynamic Event-Triggered Cooperative Formation Control for Multi-Agents

Cooperative formation control is essential for multiagent systems to perform complex tasks in fields like surveillance, logistics, and environmental monitoring. In this paper, we propose a matrix pencil-based decentralized control scheme that ensures prescribed-time convergence without inter-agent communication. Both static and dynamic event-triggered protocols are developed, which significantly reduce control updates while maintaining stability. The dynamic version further extends interevent intervals compared to its static counterpart. In particular, controller parameters can be directly selected from precomputed tables, greatly simplifying implementation. Zeno behavior is rigorously excluded for both schemes, and the effectiveness of the proposed methods is verified through simulations and hardware experiments. This work provides a practical solution for communication-free multi-agent systems operating in resourceconstrained environments.