We study the containment control problem for high-order heterogeneous nonlinear multi-agent systems under distributed event-triggered schemes. To achieve the containment control objective and reduce communication consumption among agents, a distributed event-triggered control scheme is proposed by applying the backstepping method, Lyapunov functional approach, and neural networks. Then, the results are extended to the self-triggered control case to avoid continuous monitoring of state errors. The developed protocols and triggered rules ensure that the output for each follower converges to the convex hull spanned by multi-leader signals within a bounded error. In addition, no agent exhibits Zeno behavior. Two numerical simulations are finally presented to verify the correctness of the obtained results.

我们研究了分布式事件触发方案下的高阶异构非线性多智能体系统的控制问题。为了达到遏制控制的目的，减少座席之间的通信消耗，提出了一种基于Backstepping方法，Lyapunov函数方法和神经网络的分布式事件触发控制方案。然后，将结果扩展到自触发控制情况，以避免连续监视状态错误。制定的协议和触发规则可确保每个跟随器的输出收敛到边界误差范围内的多引线信号所跨越的凸包。此外，没有代理表现出芝诺行为。最后提出了两个数值模拟，以验证所获得结果的正确性。