Event-triggered Modular Neural Network Control for Containment Maneuvering of Second-order MIMO Multi-agent Systems

An event-triggered modular neural network controller is designed for containment maneuvering of second-order MIMO nonlinear multi-agent systems under an undirected graph. For the distributed containment maneuvering controller, the estimation loop and the control loop are designed separately. In the estimation loop, an estimator is developed to design the adaptation law. The uncertain nonlinear dynamics is identified by using the neural network. An event-triggered mechanism is utilized for reducing the communication burden of followers. In the control loop, a local control law are designed based on a modified dynamic surface control method. By using an event-triggered mechanism, the path update law is designed and the communication burden of leaders is reduced. The closed-loop system is proved to be input-to-state stable. Besides, the closed-loop system is analyzed to exclude Zeno behavior. A numerical example is given to reveal the efficacy of the proposed event-triggered controller for containment maneuvering of second-order nonlinear MIMO multi-agent systems.