Fully Distributed Event-Triggered Formation Control for Multi-Agent Systems with Disturbances and Switching Topologies

This paper investigates the event-triggered formation control of multi-agent systems with external disturbances under switching topologies, where the interaction among followers is bidirectional and the leader is globally reachable in each topology, and the disturbances considered herein are bounded but their bounds are unknown. A fully distributed control protocol based on event-triggered communication mechanism is proposed to solve the formation problem of the multi-agent systems. The proposed protocol does not involve any global information, and there is no need for continuous communication between neighboring agents. Finally, a simulation example is given to illustrate the validity of the theoretical results.