Event-Triggered Adaptive Time-Varying Formation Tracking of Multi-Agent System With a Leader of Nonzero Input

In this brief, the time-varying formation (TVF) tracking problem is studied for multi-agent systems (MAS) with the leader’s control input is nonzero. First assuming that the agents’ states are unavailable, the state observer is therefore designed to deal with this situation. Then, a novel kind of event-triggered (ET) adaptive output feedback TVF tracking controller for linear MASs is put forward. According to Lyapunov stability theory, the result implies that under the appropriate assumptions the proposed controller is implementable without using any global information. Furthermore, for the designed ET condition, Zeno behavior doesn’t manifest in any agent. Furthermore, numerical simulation is given to validate the performance of the design techniques.