Abstract
This paper investigates the distributed multi-agent containment control problem with multiple leaders subject to event-triggered communications. We design a distributed event-triggered protocol, consisting of local containment control laws that compute the control inputs and triggering mechanisms that determine when the local controllers should be updated. A general time-dependent threshold is adopted in the updating rule design. Under the proposed protocol, the containment control problem with multiple leaders can be solved with tolerable containment errors. Moreover, it is proved that in the closed-loop multiagent system, the Zeno behaviour can be excluded. Compared to the previous related works on event-based containment control design, our main contribution is that the triggering mechanism is independent of the eigenvalue information of Laplacian matrix associated with the communication graph.
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