Distributed event-triggered containment control of multiple rigid bodies with combinational measurements

This paper studies the distributed containment control problem of multiple rigid bodies with event-triggered controllers. An event-triggered cooperative strategy is proposed based on combinational measurements. In this framework, each agent is triggered only at its own triggering instants, which reduces the frequency of controller updates in practice. It is shown that the triggering time sequence of each agent is Zero-free. Finally, a modified event-triggered condition is designed to avoid continuous combinational measurements between neighboring agents. It is also shown that no agents will exhibit Zeno triggering in this case.