Event-based finite time containment control for multi-agent systems

Abstract

In this paper, we intend to investigate a finite-time containment problem for multi-agent systems and the control protocol is event-triggered. With only local information of agents available, we present a distributed control law for each follower agent to achieve the objective that each follower's state comes into the convex hull which is spanned by the leaders' states in the finite time. Moreover, a nonlinear function is used in the protocol to achieve the objective faster. The event-triggered controller updates when the event-triggered condition is destroyed and therefore the execution rate is largely decreased. We give a theory to make the containment control problem achieved theoretically. Finally, a simulation example is used to demonstrate the feasibility of the theoretical results.