Self-triggered Bipartite Formation-Containment Control for Heterogeneous Multi-agent Systems with Disturbances

The design of the bipartite formation containment tracking for heterogeneous multi-agent systems is discussed in the present paper. The external disturbances are considered in the agent dynamic systems and the all state vectors are inaccessible. Therefore, unknown input observers are constructed for the followers to obtain the state and the disturbance estimates using an interval observer. Then to achieve the formation containment control, an event-triggered compensator state system is constructed for each follower using information from its neighbours to obtain the estimation of the convex hull formed by the output vectors of the leaders where Zeno behaviour is also excluded. Finally, a self-triggered protocol is proposed so that the triggering instants can be calculated locally to realize a fully distribute formation containment control. The performances of the presented method are demonstrated by the simulation of formation containment control for a heterogeneous MAS with a group of vehicles and unmanned aerial vehicles.