Event-triggered distributed formation control of second-order nonlinear multi-agent systems subjected to input constraints

This paper addresses the distributed formation control of nonlinear second-order multi-agent systems in the presence of input saturation. A new event-triggered based controller is proposed for eliminating both continuous communication among agents and control updating. The additional nonlinearity caused by input constraints is compensated by a piecewise antiwindup compensator. Based on the proposed control strategy and triggering condition, the closed-loop sys-tem's stability and zeno-behavior elimination are shown via Lyapunov-based method. The effectiveness of theoretical results are demonstrated by the numerical simulations.