Dynamic Event‐Triggered Adaptive Observer‐Based Time‐Varying Formation‐Containment Tracking of Multiagent Systems With Input Saturation

ABSTRACT We investigate the time‐varying formation‐containment (TVFC) tracking problem for linear multiagent systems (MASs) with input saturation in this article. First, dynamic event‐triggered (DET) strategies are put forward to regulate the interagent communication. Because there is no need for continuous interaction between agents, this strategy greatly reduces communication costs. Then, under the designed adaptive output feedback (OF) TVFC tracking control algorithm, it is demonstrated using Lyapunov stability theory that this system can realize the desired TVFC tracking. Moreover, we propose continuous protocols to avoid large chattering resulting from non‐zero inputs. The errors are uniformly ultimately bounded and converges to an arbitrarily small zero neighborhood under the protocols. Moreover, no agent exhibits Zeno behavior for the constructed DET scheme. Finally, we demonstrate the feasibility of the designed DET control mechanism through simulation examples.