Dynamic Event/Self-Triggered Full-State Bipartite Containment Control for Nonlinear Multi-Agent Systems Under Switching Topologies

This paper investigates the dynamic event/self triggered full-state bipartite containment control for high-order nonlinear multi-agent systems (MASs) under switching topologies. Unlike existing related results, the developed scheme not only solves the full-state bipartite containment control problem, but also tolerates graph switching and even allows disconnection at certain time intervals. First, to estimate the state of the corresponding virtual leader, the high-gain compensator and observer are developed under the switching topology. Subsequently, by designing the auxiliary dynamic variables, a zeno-free dynamic event-triggered (DET) controller is designed to reduce the communication burden. Further, zeno-free dynamic self-triggered (DST) controllers are proposed to avoid continuously monitoring the states. It is proven that the controller under the DET and DST mechanisms can ensure the followers converge into the corresponding convex hull. Finally, the effectiveness of the proposed approaches is verified through the simulation of single-link manipulators and RLC circuits.