MULTI-AGENT EVENT-TRIGGERED CONTAINMENT CONTROL WITH JOINT CONNECTED SWITCHING TOPOLOGY

The problem of event-triggered containment control of multi-agent systems (MAS) with joint connected switching topology is studied in this paper. In actual communication, the network topology may be switched and disconnected due to interference. In order to make the system still be able to realize containment control in these emergencies and to minimize communication consumption and save energy, an output regulation control strategy based on event-triggered is proposed. The leaders are considered as external systems and the method of output adjustment is used to work out the containment control problem. Then, a novel event-triggered control protocol with joint connectivity topology based on the state observer is designed to complete the output regulation control while excluding the Zeno behavior. We present proof that under the designed control strategy, the followers will asymptotically converge to the convex hull formed by multiple leaders if the communication topology is jointly connected in a limited time. Finally, the simulation results show the validity of the conclusion.