Abstract
This paper focuses on resolving the distributed formation containment control issue in general multi-agent systems (MASs) possessing multiple leader agents subject to limited communication resources. The unnecessary data transmissions among agents in MASs are reduced by utilizing a unique dynamic event-triggering communication mechanism (DETCM), which can build communication time sequences for each agent automatically. Based on the sampled states of agents at event-triggering instants, a novel distributed formation containment control protocol is proposed. By mathematical analysis, the formation containment control problem is turned into the problem of stability in a reduced-order system. The global formation containment of the MASs is finally achieved through the application of Lyapunov-Krasovskii functionals and general inequalities. Moreover, a valid example is also given to support the validity and effectiveness of the findings.
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