Observer-Based Event-Triggered Formation Control of Multi-Agent Systems with External Disturbances Under Switching Topologies

The paper examines the time-varying formation control problem of multi-agent systems subject to external disturbances under switching topologies. The topologies considered are directed, and it is not required for each topology to have a globally reachable leader. Considering the unmeasurable states of agents, the present paper proposes formation control protocol that employ an observer and an event-triggered communication mechanism, along with sufficient conditions to guarantee the desired formation of the multi-agent systems. The introduced control protocol removes the requirement for agents to communicate continuously. Finally, a simulation example is furnished to substantiate the efficacy of the results.