Event-triggering Control for Time-varying Formation Tracking of Multi-agent Systems Subjected to Input Saturation

Abstract

This paper studies event-triggering formation tracking problem of linear multi-agent system (LMAS) with input saturation. First, time-varying formation tracking control protocol are designed based on event-triggering control schemes. Then, by utilizing the low-gain feedback technique, an algorithm is designed to solve the event-triggering formation tracking problem. It is shown that the proposed control strategy guarantees LMAS to accomplishes the specified time-varying formation tracking, and Zeno behaviors is excluded. Finally, simulation example including four follower agents and one leader confirm the effectiveness of the theoretical results.