Event-triggered based containment control of multi-agent systems with general linear dynamics

In this paper, we study the containment control problem with general linear dynamics under directed graph by means of centralized event-triggered control strategy. Distributed dynamic centralized event-triggered controller is proposed, which is based on the information of the relative outputs of the neighboring agents, such that the states of the followers can asymptotically converge to convex hull that is constituted by the leaders. A sufficient condition is established by Lyapunov function method. Finally, an example is given to illustrate the effectiveness of the obtained results.