Model-Free Event-Triggered Containment Control of Multi-Agent Systems

This paper presents a model-free distributed event-triggered containment control scheme for linear multi agent systems. The proposed event-triggered scheme guarantees asymptotic stability of the equilibrium point of the containment error as well the avoidance of the Zeno behavior. To relax the requirement of complete knowledge of the dynamics, we combine an off-policy reinforcement learning algorithm in an actor critic structure with the event-trigger control mechanism to obtain the feedback gain of the distributed containment control protocol. A simulation experiment is conducted to verify the effectiveness of the approach.