Multi-targets Formation Tracking for Lipschitz-Type Nonlinear Systems via Event-Triggered Scheme

This paper investigates the multi-targets formation tracking (MTFT) problem for multiple autonomous agents described by Lipschitz-type nonlinear dynamics. The objective is to facilitate the formation of the desired time-varying configuration among locally connected agents, and enable them to track the convex hull of multiple targets. Specifically, each agent is granted the flexibility to explore an appropriate number of targets, contingent upon its individual capability. Without requiring the continuous interactions among agents, an event-triggered MTFT algorithm is designed to reduce the communication consumption. By leveraging the principles of Lyapunov stability theory, it is substantiated that the MTFT problem can be resolved through the proposed algorithm. Finally, a numerical example is presented to further illustrate its effectiveness.