Event-Triggered Surrounding Control of Multi-Agent Systems via Command-Filter Super-Twisting Approach

This paper is dedicated to investigating the surrounding problem in the stationary mode for two classes of second-order multi-agent systems, utilizing the super-twisting event-triggered approach in conjunction with a command-filter. In a scenario where leaders come to a stop after following a path and are surrounded by followers both on the ground and in the air, it is assumed that the followers also adjust their line of sight to maintain symmetrical visibility with respect to the leaders. Through the super-twisting event-triggered algorithm, unnecessary information exchange among agents is reduced, enabling efficient utilization of limited energy resources while enhancing resistance to external disturbances with less chattering. Taking into account state and actuator constraints, the proposed method has been combined with the command-filter technique. Furthermore, the event time sequences exhibit Zeno-free performance. Ultimately, simulation results have been generated to validate the proposed approach and showcase the effectiveness of the designed control system.