Event-based containment control of multi-agent systems without velocity measurements

This paper considers the event-based containment control problem for second-order multi-agent systems. A novel event-triggered containment control protocol is proposed so as to carry out intermittent examination of the event-triggering condition at sampling instants. One important feature of the designed protocol is that only the sampled position data are used with no utilization of velocity measurements. It is shown that the realization of containment control is guaranteed under a sufficient condition which depends upon the control gains, the sampling period, and the spectrum of the Laplacian matrix among the followers. The effectiveness of the proposed event-triggered containment control protocol is demonstrated by a simulation example