Event-triggered cooperative containment control for a class of uncertain non-identical networks

Abstract

A practical event-triggered design method is developed for cooperative robust containment control problem of multi-agent systems with multiple leaders. The multi-agent systems discussed in this paper are essentially heterogeneous, and each follower is modeled by a integrator with the external disturbance. A containment error also has been expressed to ensure all the outputs of followers converge to the convex hull spanned by the outputs of the leaders. For the case that the undirected communication graph among followers is connected, a distributed containment compensator is designed based on the local state information of neighboring agents. Furthermore, a distributed output feedback controller is designed to solve the event-triggered containment control problem of the continuous-time multi-agent systems. Finally, a numerical example is given to verify the effectiveness of the main results.