Formation tracking for multi-agent systems based on dynamic event-triggered

In this paper, the formation tracking consensus problem is investigated for multi-agent systems with a leader subject to bounded input based on the dynamic event-triggered control. A novel event-triggered control protocol is designed to achieve the desired formation consensus. First, the formation compensation input is proposed by solving the time-varying formation tracking feasible constraint equation. Second, for the leader's bounded control input, a nonlinear auxiliary function is constructed to compensate the input influence. Then, the dynamic auxiliary variables are introduced in dynamic event-triggered functions, which can adjust the triggering conditions, such that the number of unnecessary triggers can be effectively reduced and communication efficiency can be improved. Finally, a simulation example is presented to illustrate the effectiveness of the result.