Distributed Event-Triggered Time-Varying Formation Control of High-Order Multiagent Systems with Multiplicative Noise

This paper discusses the distributed event-triggered time-varying formation (TVF) problem for high-order multiagent systems (MASs) with multiplicative noise on the undirected graph. Based on relative state measurements among agents, a distributed TVF protocol with multiplicative noise for MASs is proposed via event-triggered control. Then, a specific algorithm design is given and corresponding sufficient conditions are established, which shows that all agents can asymptotically converge to the target formation in the mean square sense. Finally, a numerical example is presented to prove the availability of the designed algorithm.