Neuroadaptive Containment Control for Nonlinear Multiagent Systems With Input Saturation: An Event-Triggered Communication Approach

In this article, a neuroadaptive event-triggered containment control strategy combined with the dynamic surface control (DSC) approach is proposed for nonlinear multiagent systems (MASs) with input saturation. Based on the event-triggered communication mechanisms, the updates of neural network weight and controllers are implemented solely under triggering conditions of violation, which markedly reduces unnecessary communication resources and minimizes inefficient control costs compared with the traditional control method. Radial basis function neural networks (RBF NNs) are employed to handle the nonlinear uncertainties of MASs. Simultaneously, an adaptive compensatory mechanism is incorporated within the backstepping process to address the nonlinear effect posed by input saturation. Additionally, we demonstrate the system stability by extending the Lyapunov theorem to jump and continuous scenarios while excluding Zeno behavior, realizing that all followers can enter the convex hull constructed by leaders. Finally, the effectiveness of the proposed methodology is verified through application simulations.