Observer‐based adaptive event‐triggered containment control of linear multiagent systems with non‐autonomous leaders

Abstract

This paper investigates the containment control problem of linear multiagent systems (MASs) with multiple non‐autonomous leaders on a directed graph. First, an event‐triggered compensator is designed for each follower to estimate the convex combination of non‐autonomous leaders' states. The compensator is designed with the following three features: (1) It can estimate the convex combination of non‐autonomous leaders' states over directed graphs; (2) it is fully distributed; and (3) the designed event‐triggered mechanisms (ETMs) are composite dynamic ETMs, and each follower does not have to monitor the sampling errors continuously. Then, a state observer is developed for each follower based on the output feedback. Based on the designed compensator and state observer, an event‐triggered controller is developed, ensuring that each follower's state converges exponentially to an arbitrarily small neighborhood centered on the convex combination of leaders' states. Additionally, the proposed DETMs are free of Zeno behavior. Finally, the effectiveness of the developed control protocol is verified by two simulation examples.