Model-Based Edge-Event-Triggered Containment Control Under Directed Topologies

This paper investigates the containment control problem of multiagent systems with double integrator dynamics under directed topologies. A model-based edge-event-triggered control protocol is proposed, in which the control input to each agent only contains edge information and its own velocity information. Continuous detection is avoided by the establishment of a predictive model and each controller is only updated at its own event time instants. The theoretical results show that, under our control protocol, the containment control problem can be solved and the Zeno behavior is excluded. The effectiveness is further illustrated by simulation results.