Robust time-varying output formation tracking for heterogeneous multi-agent systems with adaptive event-triggered mechanism

This paper investigates the time-varying output formation tracking problem of heterogeneous multi-agent systems subjected to model uncertainties and external disturbances via adaptive event-triggered mechanism. Firstly, an adaptive distributed event-triggered observer is constructed to acquire the leader's state and a time-varying formation output tracking controller utilizing sliding mode method is proposed to deal with the model uncertainties and external disturbances can be addressed. Secondly, an algorithm is given to claim the design procedures of the event-triggered based controller and asymptotic convergence of the controller is proved based on Lyapunov theory. Thirdly, Zeno-behavior is proved to be excluded strictly. Finally, a numerical example is given to illustrate the effectiveness of the proposed algorithm.