Containment-Formation Control for Second-Order Nonlinear Multi-Agent Systems via Event-Triggering

This paper studies the event-triggered containment-formation control problem for nonlinear multi-agent systems. Neural networks are utilized to approximate uncertain dynamics. An adaptive neural network controller is designed, and an event-triggering mechanism based on a relative threshold is constructed, which is set on the control channel. By using Lyapunov stability theory, the bounded stability of the closed-loop systems is proven, and the formation tracking error converges to a small neighborhood around zero. It is also shown that the event-triggered control method used does not cause Zeno behavior. Finally, simulation results are provided to verify the effectiveness of the proposed formation control method.