Event-based formation control of heterogeneous multiagent systems with leader agent of nonzero input

Abstract

In this paper, the fully distributed event-triggered time-varying formation control of heterogeneous linear multiagent systems is studied. To make the reference trajectory controllable and flexible, the bounded input is introduced to leader agent. The intention of this paper is to decrease the unnecessary information transmission of agents via communication topology by designing the intermittent transmission control protocol. Firstly, the adaptive state compensator is designed to evaluate the state information of leader agent based on the estimation value of leader state and two kinds of event-triggered mechanisms. Then, two types of output-feedback time-varying formation controllers are presented based on different formation feasible conditions. By theoretical analysis, the estimation error of event-triggered state compensator is proved to be uniformly ultimately bounded and the event-triggered mechanisms prevent Zeno behavior, and the formation tracking errors converge to the small region of zero. Finally, some simulation experiments are provided to support the theoretical results.