Event-Triggered Fully Distributed H∞ Containment Control for MASs

This article investigates the fully distributed observer-based $H_{\infty}$ containment control problem for multiagent systems (MASs) under the event-triggered strategy. Under this control framework, all followers will eventually converge to the convex hull formed by leaders with prescribed $H_{\infty}$ performance. First, to reduce the unnecessary network resources consumption, an adaptive dynamic event trigger (DET) strategy is introduced and is rigorously proven to be free of the Zeno behavior. Besides, an output-based state observer is designed to obtain the unmeasured system states. Furthermore, the fully distributed control scheme is developed, namely, only the neighboring information of agents is used to design the controller, the observer, and the event-triggered mechanism. By constructing a new Lyapunov function, the sufficient conditions are derived to guarantee the $H_{\infty}$ containment control performance of MASs. Finally, a practical physical example is used to demonstrate that the designed control strategy can accomplish the containment control task and ensure the desired $H_{\infty}$ containment control performance simultaneously.