Fully distributed dynamic event-triggered formation-containment tracking for multiagent systems with multiple types of disturbances

This paper is dedicated to addressing the time-varying output formation-containment tracking (TVOFCT) problem for heterogeneous linear multiagent systems (MASs) with multiple types of disturbances under directed communication topology. The agents are divided into tracking leaders, formation leaders, and followers. In the output space, the formation leaders are required to form an expected geometric formation while tracking the tracking leader, and the followers are required to enter the convex hull spanned by formation leaders. First, a disturbance observer is designed to observe the disturbance with deterministic dynamics. Then, by combining adaptive technology with event-triggered technology, an independent fully distributed dynamic event-triggered (FDDET) compensator is designed to estimate the state of the tracking leader. The main advantages of this compensator lie in the following three aspects: (1) the adaptive weight does not increase unboundedly; (2) the interval time between events is expanded; (3) the design does not rely on any global information. Similar to the design of this compensator, an independent FDDET convex hull observer is further designed to observe the convex hull spanned by formation leaders. Subsequently, based on the designed disturbance observer, compensator, and convex hull observer, the adaptive disturbance rejection control input which can make the MASs achieve TVOFCT is formulated. Finally, a numerical simulation is provided to clearly verify the validity of the theoretical results.