Cooperative Time-Varying Formation for Multiple Lypschitz-Type Nonlinear Systems: An Event-Triggered Adaptive Mechanism

This brief investigates the time varying formation problem of Lipschitz-type nonlinear multi-agent systems. An event-triggered adaptive controller is proposed. Comparing to existing related results, in this brief, both the neighbors states information and formation configurations are transmitted via an event-triggered mechanism, which reduce the frequency of communications. Besides, based on state-dependent-gain designs, the proposed protocol can ensure the Lipschitz-type agents achieving the desired final configuration by only solving algebraic Riccati equation (ARE) but linear matrix inequality (LMI), which is not only more practical in engineering scenarios, but also feasible if the system is stabilizable. Also, it follows from continuous adaptive modification, some global information, such as the eigenvalue of the Laplacian matrix and the Lipschitz constant, is not required here.