Cooperative Target Tracking Control for Multiagent Systems: An Event-Based Aperiodic Observation Method

This article copes with the problem of collaborative target tracking in multiagent systems (MASs) under the constraint of aperiodic output observations. First, a fully distributed adaptive event-triggered (AET) observer based on the aggregated observation measurement term is constructed to efficiently obtain aperiodic output observation information of the targets without relying on global properties of the interaction graphs. Within this framework, sensors exchange observations rather than raw measurements through the network, providing freedom and flexibility in information selection. A distributed control strategy is then developed to effectively accomplish the cooperative target tracking objectives subject to multiple constraints, including limited communication resources, aperiodic observations of the targets, and the requirement for a safe distance among agents. Moreover, the tracking errors are demonstrated to be ultimately bounded, ensuring the system's convergent behavior from a theoretical standpoint. Meanwhile, it is confirmed that neither the observation process nor the tracking control process exhibits Zeno behavior. Finally, comprehensive simulation findings are demonstrated to substantiate the efficacy of the designed control strategy.