Event-triggered Formation Control for Multi-agent Systems with Unknown Disturbances under Switching Topologies

This paper investigates formation control problem for multi-agent systems (MASs) subject to external disturbance. By utilizing event-triggered scheme, the controllers update their states at aperiodic discrete time instants, where not all the agents have to broadcast information at the same time. With the help of extended state observers, we suppress the influence of unknown external disturbances and achieve the predesigned formation under switching communication networks. Sufficient conditions are deduced to guarantee the boundedness of estimate errors and formation errors. In addition, Zeno behaviors are exclusive in the control algorithm. Finally, a numerical simulation is given to validate the theoretical results.