Distributed self-triggered scheme for containment control of Multi-agent systems

This paper examines the multi-agent containment control problem and proposes a distributed self-triggered scheme to reduce network load. Firstly, a novel approach is proposed to integrate the distributed self-triggered mechanism with the containment control, by splitting the global form of the containment error system. In order to achieve containment control with H
∞
performance, a condition for system stability and a distributed self-triggered auxiliary condition are presented for each agent. Furthermore, to derive the distributed self-triggered scheme, an auxiliary condition is proposed, in which the next triggering time is calculated based on system states at the previous triggering moment. Consequently, the controller update is triggered based on the calculated triggering moment, ensuring that the followers are led into the convex hull encompassed by the leaders using only the states at triggering instants. At last, the effectiveness of the proposed distributed self-triggered containment control is demonstrated by a simulation example.