Event-Triggered Containment Control for Multi-Agent Systems with Unknown Gain Coefficients

To address the limited adjustment issue of reference signals in traditional containment control, this paper proposes a novel containment control framework suitable for multi-agent systems with unknown gain coefficients. The framework is based on the backstepping method. In the controller design, the Nussbaum gain function is adopted to handle the problem of unknown control coefficients. Meanwhile, the integration of command filters and an event-triggered mechanism reduces computational load and saves communication resources. Lyapunov stability analysis demonstrates that the containment errors of the closedloop system are uniformly ultimately bounded. Simulation results verify the theoretical validity and practical feasibility of the proposed scheme.