A Modular Event-Triggered Containment Control Scheme for Nonlinear Heterogeneous Multiagent Systems With Unknown Leaders
针对非线性异构多智能体系统，提出一种模块化事件触发包含控制方案，使跟随者收敛到领导者张成的动态凸包内，同时节省通信资源，并通过仿真验证了有效性。
This article addresses the containment control problem in multiagent systems with nonlinear heterogeneous followers and multiple unknown leaders whose dynamics are exclusively known to their neighbors. The primary goal is to ensure the convergence of each follower to the dynamic convex hull spanned by the leaders under the constraints of limited communication resources. To achieve this, this article introduces a modular event-triggered containment control scheme with three modules. The first module, Module I-signal generator, is designed for each follower to generate a reference signal asymptotically entering the dynamic convex hull without relying on follower dynamics. The second module, Module II-event-triggered mechanism, is tailored to save communication resources effectively by determining when to broadcast information based on perturbed system stability and input-to-state stability theories. The third module, Module III-tracking controller, treats each follower as an independent agent and is crafted to track the reference signal generated by Module I using an output regulation approach. It is established that the system achieves containment control without Zeno behavior under the influence of these modules, and the theoretical results are validated through simulation examples, demonstrating the practical validity of the proposed approach.