Fully Distributed Integral-Type Event-Triggered Formation-Containment Tracking Control for Heterogeneous Multi-agent Systems

This article considers the time-varying output formation tracking problems for heterogeneous multi-agent systems with multiple leaders. A fully distributed integral-type event-trillering control protocol without using any global information is proposed. Then, by introducing an auxiliary function, minimum triggering interval (MTI) can be always strictly positive which is a stronger condition than simply ruling out Zeno behavior. By constructing a novel Lyapunov function for ETM design and stability analysis, the control objective is achieved. Finally, the effectiveness and performance of the theoretical results are validated by numerical simulations.