PI: Dr. A. Saif
CoI: Dr. S. El ferik

This project presents a novel dynamic event-triggered formation control scheme for multiagent systems, with a specific focus on UAVs. Unlike traditional methods, which rely on pre-determined reference trajectories, we introduce an adaptive approach where the leader agent generates a real-time flexible reference trajectory by incorporating an unknown input signal. This allows the leader to dynamically adjust its trajectory in response to environmental changes, obstacles, or mission variations. The proposed robust control framework employs event-triggered mechanisms that optimize communication bandwidth, significantly reducing the need for continuous information exchange between agents.