Self-triggered Containment Control for Second-order Switched Nonlinear Multi-agent Systems

This paper investigates the self-triggered containment control for a class of second-order switched nonlinear multi-agent systems. By using the graph theory, the Lyapunov stability principle and neural network method, both centralized and decentralized control protocols and self-triggered rules are designed. It is proven that the practical containment control can be achieved without continuously monitoring the measurement errors by the designed protocols, and the Zeno behavior can be excluded. Finally, a numerical simulation is given to illustrate the validity of the main results.