LAUSR

This paper is concerned with the time-varying formation tracking issue for high-order multi-agent systems based on event-triggered mechanism and adaptive control strategy. The time-varying formation configuration involved in our work is expressed as a bounded piecewise continuously differentiable vector function. The follower agents are required to achieve a pre-specified time-varying formation while tracking the state trajectory of the leader. First of all, in the light of event-triggered schema, we constructed an adaptive control protocol with adjustable time-variant parameters for achieving time-varying formation tracking. Meanwhile, the corresponding triggering conditions were designed to avoid continuous communication. Then, a four-step algorithm and feasible conditions have been provided to determine protocol parameters. Additionally, theoretically proof reveals that the specified formation tracking could be realized while excluding Zeno behavior. Two simulation examples were finally provided to illustrate the effectiveness of the obtained results.