Observer‐Based Dynamic Event‐Triggered Robust H∞$$ {H}_{\infty } $$ Circle Formation Control for Uncertain Multi‐Agent Systems Under External Disturbances

ABSTRACT Multi‐agent systems (MASs) have attracted immense attention due to their extensive applications in various domains. However, their limitations, including external disturbance and limited resource constraints, remain under explored in contemporary research. To address these issues, an observer‐based dynamic event‐triggered robust circle formation protocol is proposed for the control of uncertain MASs under external disturbances. First, a full‐order observer is designed to recover the state of the system when a partial state is unavailable in MASs. Second, by combining robust control and a dynamic event‐triggered strategy, a new distributed circle formation control protocol is developed. This protocol ensures that the states of all agents converge to a desired equilibrium point while achieving the expected robust performance of uncertain MASs under mismatched uncertainties and external disturbance. Lastly, Zeno behavior is avoided by providing a positive minimum inter‐event time for each agent, and the effectiveness of the proposed method has been verified via simulation.