Observer-Based Event-Triggered Formation Control of Multi-Agent Systems With Switching Directed Topologies

This paper investigates the formation control problem for linear multi-agent systems under switching directed topologies. Based on absolute or relative outputs, we propose two distributed observer-based event-triggered control schemes. Both schemes can guarantee the boundedness of formation errors under sufficient conditions. The schemes can also avoid Zeno behaviors by giving an estimation for the lower bound of sampling intervals. Finally, simulations and experiments validate the proposed approaches.