Adaptive event-triggered method to affine formation maneuver control of multi-agent systems with external disturbances

This paper focuses on the affine formation maneuver control (AFMC) for linear multi-agent systems (MASs) with bounded external disturbances over directed communication graphs. A novel fully distributed adaptive event-triggered control protocol is designed, which only requires relative information from each agent and its neighbors at triggering instants, rather than any global information of the entire network. The paper demonstrates that the affine formation can be achieved with certain error under bounded external disturbances using the proposed control protocol. Additionally, it proves that there is no Zeno behavior in the event-triggered mechanism. Furthermore, it establishes that the affine formation can be attained if there is no external disturbance. Finally, examples with single-integrator dynamics and double-integrator dynamics are simulated to demonstrate the feasibility of the main theoretical results.