Eventtriggered cooperative containment control for a class of uncertain nonidentical networks Abstract   A practical eventtriggered design method is developed for cooperative robust containment control problem of multiagent systems with multiple leaders. The multiagent systems discussed in this paper are essentially heterogeneous, and each follower is modeled by a integrator with the external disturbance. A containment error also has been expressed to ensure all the outputs of followers converge to the convex hull spanned by the outputs of the leaders. For the case that the undirected communication graph among followers is connected, a distributed containment compensator is designed based on the local state information of neighboring agents. Furthermore, a distributed output feedback controller is designed to solve the eventtriggered containment control problem of the continuoustime multiagent systems. Finally, a numerical example is given to verify the effectiveness of the main results.

Prescribedtime decentralized regulation of uncertain nonlinear multiagent systems via output feedback Abstract   This paper addresses the global prescribedtime decentralized regulation problem for a family of uncertain nonlinear multiagent systems. The dynamics of each agent is supposed to be in the strict feedback form, where the uncertain nonlinearities admit Lipschitz growth conditions with an unknown positive constant gain multiplying by a timevarying continuous function gain. It is firstly defined error systems, which are composed of the leader and their followers, and shown that the prescribedtime decentralized regulation problem of the original systems is equivalent to the prescribedtime regulation problem of error systems. Then, by introducing a novel state transformation involving a timescaling function, the prescribedtime regulation problem is then converted into designing appropriate gain parameters. Finally, based on the Lyapunov stability theorem, the prescribedtime regulation of the closedloop systems is proved and the prescribedtime decentralized regulation of the original systems is thus guaranteed. An example is presented to show the feasibility of the proposed prescribedtime decentralized protocols.