Discrete Multi-agent Systems H∞ Containment Control with Event-Triggered Mechanism

This paper solves the event-triggered H-infinity containment control problems for discrete multi-agent systems under directed topological graph. Considering the limitation of network bandwidth, only necessary data can be transmitted through conditional judgment. In order to observe the position of the convex hull formed by the leader's movement, a dynamic compensator is introduced into the controller design of followers. Under the asynchronism schedules and the observer, an event-triggered distributed algorithm is derived to ensure that the follower's state eventually converges to the weighted state of each leader. Then, by constructing Lyapunov function, the sufficient conditions that ensure the stability of the multi-agent systems are given. The feasibility of the obtained results is verified by a simulation example.