Title: Event-triggered containment control for multi-agent systems with switching topology in finite-time

Authors: Wenjun Wei; Jiahui Lv; Fengyang Gao; Liben Yang

Addresses: Department of Automation and Electrical Engineering, Department of The Key Laboratory of Opto-Technology and Intelligent Control Ministry of Education, Lanzhou Jiaotong University, Lanzhou, 730070, Gansu, China ' Department of Automation and Electrical Engineering, Department of The Key Laboratory of Opto-Technology and Intelligent Control Ministry of Education, Lanzhou Jiaotong University, Lanzhou, 730070, Gansu, China ' Department of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou, 730070, Gansu, China ' Department of Automation and Electrical Engineering, Lanzhou Jiaotong University, Lanzhou, 730070, Gansu, China

Abstract: In this paper, a distributed finite-time state observer and event-triggered control strategy are proposed for the event-triggered multi-agent containment control in finite-time, while considering that the network topology is too brittle to switch due to disturbances and emergencies in actual communication. Firstly, we design a distributed control protocol through finite-time state observer under switching topology, which the follower agents can quickly converge to the convex hull formed by multiple leaders. The switching topology is more practical. We prove that the designed state observer can estimate the external system status in a finite-time by using graph theory and Lyapunov stability theory. Secondly, the event-triggered control mechanism is designed to reduce the communication times and the updating times between multi-agents and greatly decrease the energy consumption on the basis of satisfying the finite-time containment control. We also prove that the designed control strategy can eliminate Zeno behaviour. Finally, the effectiveness of the theoretical results is verified by a simulation example.

Keywords: containment control; event-triggered; finite-time; multi-agent systems; switching topology.

DOI: 10.1504/IJAAC.2023.130564

International Journal of Automation and Control, 2023 Vol.17 No.3, pp.267 - 286

Received: 26 Jan 2022
Accepted: 19 Mar 2022
Published online: 28 Apr 2023 *

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