Neuroadaptive Formation Tracking for Nonlinear Multi‐agent Systems With a Nonautonomous Leader via Dynamic Event‐triggered Strategies

This article focuses on the time‐varying formation (TVF) control for nonlinear multi‐agent systems (MASs) under dynamic event‐triggered strategies. First, dynamic event triggering (DET) strategies are used to regulate agent‐to‐agent communication and reduce communication costs. Moreover, Zeno behavior is excluded. Second, the neural network (NN)‐based distributed control protocol is designed. The unknown nonlinearities are compensated for using NN approximations. Lyapunov stability analysis shows that the proposed controller guarantees practical TVF tracking. Finally, a numerical example demonstrates the effectiveness of the proposed method.