Event-triggered containment control for second-order multi-agent systems with sampled position data

This paper is concerned with the problem of event-triggered containment control for second-order multi-agent systems with sampled position data. First, a distributed event-triggered containment control protocol is designed, which utilizes the sampled position data only and allows the event-triggering condition to be intermittently examined at constant sampling instants. Then, based on the algebraic graph theory and matrix theory, a sufficient condition on the communication topology, the controller gains, and the sampling period is derived so as to achieve containment control. Finally, a numerical example is provided to verify the theoretical results.