Event-triggered adaptive tracking containment control of nonlinear multiagent systems with unmodeled dynamics and prescribed performance

This article concentrates on the event-triggered adaptive tracking containment control problem for a class of nonlinear multi-agent systems (MASs) with unmodeled dynamics and prescribed performance. In order to deal with the design difficulties which are aroused by unknown nonlinearities and unmodeled dynamics, the properties of Gaussian function and some novel dynamics signals are used in this paper. Meanwhile, a relative threshold-based event-triggered mechanism is adopted such that the system communication burden is reduced under the condition of limited communication resources. It's shown the proposed tracking containment control protocol can ensure that the outputs of the followers converge to the convex hull spanned by the multiple leaders's outputs, all signals of the closed-loop systems are uniformly ultimately bounded and the Zeno behavior can be effectively avoided. Finally, the simulation results are presented to demonstrate the effectiveness of the proposed containment control protocol.