Exponential Adaptive Event-Triggered Formation Tracking of Heterogeneous Multi-Agent Systems Based on Output Feedback

The exponential adaptive event-triggered formation tracking of heterogeneous multi-agent systems (HMASs) is investigated in this paper. First, to obtain the state of the leader in a distributed way and save communication resources simultaneously, a novel adaptive distributed observer based on event-triggered communication is constructed, where the adaptive gain is designed wisely such that the use of global topology information is avoided. Further, the local formation controller is established to achieve the desired time-varying formation pattern utilizing the output information only. It's noted that the exponential convergence with a predefined rate can be achieved by the proposed distributed observer and controller, even in the presence of the adaptive gain. This feature improves the flexibility of the algorithm. Simulations are carried out to show the effectiveness of the proposed scheme.