Time-Varying Formation Tracking Control of Heterogeneous Multi-Agent Systems With Intermittent Communications and Directed Switching Networks

Dear Editor, This letter is concerned with the problem of time-varying formation tracking for heterogeneous multiagent systems (MASs) under directed switching networks. For this purpose, our first step is to present some sufficient conditions for the exponential stability of a particular category of switched systems. Then, we apply the theoretical results to design a distributed observer for reference leader under directed switching topologies. Based on the above designed observer, a novel event-triggered distributed control protocol is proposed for each follower to achieve the desired formation. Finally, we demonstrate the effectiveness of our proposed results through numerical simulations.