A Modular Event-Triggered Containment Control Scheme for Nonlinear Heterogeneous Multiagent Systems With Unknown...

Area of Science:

• Control Theory
• Robotics
• Networked Systems

Background:

• Multiagent systems face challenges in containment control, especially with unknown leaders and limited communication.
• Ensuring follower convergence to a dynamic convex hull is crucial for coordinated behavior.

Purpose of the Study:

• To develop an efficient event-triggered containment control scheme for nonlinear heterogeneous multiagent systems.
• To address the challenge of unknown leader dynamics and limited communication resources.

Main Methods:

• A modular approach with three components: signal generator, event-triggered mechanism, and tracking controller.
• Utilizing perturbed system stability and input-to-state stability for resource-efficient communication.
• Employing an output regulation approach for follower tracking control.

Main Results:

• The proposed scheme ensures followers asymptotically enter the dynamic convex hull of leaders.
• The event-triggered mechanism effectively conserves communication resources.
• Containment control is achieved without Zeno behavior, validated by simulations.

Conclusions:

• The modular event-triggered control scheme is effective for multiagent containment control.
• The approach offers a practical solution for systems with unknown dynamics and communication constraints.