Distributed event-triggered containment control for dynamical multiagent networks

摘要

This paper studies the event-triggered containment control problem for dynamical multiagent networks of general MIMO linear agents. An event-triggered containment control strategy is provided, which consists of a control law based on a relative-state feedback and a distributed triggering rule based on both the relative-state information and a time-dependent threshold function. Compared to the previous related works, our main contribution is that the triggering rule depends only on local information of communication networks. It is proved that under the proposed event-based controller, the containment errors are uniformly ultimately bounded and the Zeno behavior can be excluded. Moreover, when the derivation constant in the threshold function is equal to zero, the containment control problem can be solved. Then, the results are extended to the event-triggered observer-based containment controller design.