Containment Control of Heterogeneous Liner Singular Multi-agent Systems by Distributed Event-triggered Control

This paper investigates the containment control of heterogeneous linear singular multi-agent systems (MASs) by distributed event/self-triggered control strategy. Firstly, a novel distributed observer is designed to estimate the convex combination of the leaders' states. Then, a state-feedback controller and an output-feedback controller based on the realtime updating strategy are proposed to obtain the leader-following consensus of the liner singular MASs. Next, in order to reduce the number of the information updating, a novel distributed event/self-triggered controller is designed which only uses the sampled-data information between neighboring agents at the event-triggered instants. Furthermore, it is proved that the inter-event time is lower bounded by a positive constant and then the Zeno behavior is excluded. Finally, an example is given to verify the effectiveness of the control strategy.