Design of Hybrid Event-Triggered Containment Controllers for Homogeneous and Heterogeneous Multiagent Systems

This article is concerned with the containment control problem for a class of multiagent systems (MASs) based on event-triggered output feedback. For homogeneous MASs, a distributed observer-based containment control protocol and a distributed hybrid event-triggered scheme are proposed. The observers, containment controllers, and event-triggered conditions are designed simultaneously by means of the matrix transformation technique. The proposed event-triggered mechanism includes not only the traditional triggering function but also a running time upper bound, which saves the communication workload and improves system performance. Furthermore, based on the output regulation framework, a hybrid distributed event-triggered scheme and a distributed containment control protocol for heterogeneous MASs are developed, where the dynamics of the followers vary. Multiply unmanned aerial vehicles are modeled as a linear MAS to verify the effectiveness of the presented algorithm.