Explicit Performance Containment Control for Multi-Agent Systems With Leaders Bounded Unknown Input by Hybrid Time-Event Triggered Mechanism

This paper investigates the containment control problem of multi-agent systems with leaders bounded unknown input. To save resources of systems and eliminate the impact of bounded unknown input on systems, a hybrid time-event triggered mechanism coupled with the boundary layer technique is introduced into the distributed cooperation algorithm, where each follower agent only needs relative state information or absolute state information from its neighbour agents (including leaders) at triggering sequence and the containment error could converge to an arbitrarily adjustable constant exponentially. It is noted that the feature of the triggering sequence generated by the hybrid time-event triggered mechanism is that the lower bound of consecutive triggering instants could be specified by the time triggered mechanism, while the average time interval for the triggering sequence could be enlarged by the event triggered mechanism. Then, with the aid of graph theory and Lyapunov theory, the procedure about how to choose control parameters is presented and the existence of solutions to these parameters is also strictly proved, therefore guaranteeing the explicit performance for the practical containment control problem. Finally, the correctness of suggested distributed coordination algorithms is verified on spacecraft formation flying problem.