VARIABLE COUPLING CONTAINMENT CONTROL IN HETEROGENEOUS MULTI-AGENT SWITCHING TOPOLOGY BASED ON EVENT-TRIGGERED

This paper addresses the containment control problem of heterogeneous Multi -Agent Systems (MAS) under switched topology and proposes an event -triggered decoupling coefficient control strategy. Inspired by the leader -follower output regulation problem, the leaders are treated as external systems. Firstly, a distributed dynamic feedback control scheme is designed for the followers' controllers, integrating the event -triggered control mechanism. Secondly, effective coordination control rules for the variable coupling coefficients among multi -agents are devised under the switched topology condition. By comparing with the fixed coupling coefficient MAS, the designed controller not only avoids collisions among agents but also improves the convergence speed of the system. The followers can converge faster to the convex hull formed by multiple leaders. Furthermore, the event -triggered control mechanism effectively reduces the amount of information exchanged among agents, thus reducing communication load and network energy consumption. Finally, the theoretical results are validated through simulation examples.