This paper addresses the problem of event-triggering formation control (ETFC) for second-order multi-agent systems (MASs) with sampled position data. Firstly, two types of distributed control strategies based on the sampled position data are proposed to solve the observer-based formation control problems. These novel formation control strategies allow the event-triggering conditions to be intermittently examined at random sampling instants, where the data transmission is driven by an event-triggering control protocol. Under this framework, both timeinvariant and time-varying formation controls are considered. Then, based on the algebraic graph theory and matrix theory, some sufficient conditions are given to ensure that the second- order MASs achieve the specified formation shape. Finally, simulation results are provided to show the effectiveness of the theoretical analysis.

本文解决了具有采样位置数据的二阶多智能体系统（MAS）的事件触发编队控制（ETFC）问题。首先，提出了两种基于采样位置数据的分布式控制策略来解决基于观测器的编队控制问题。这些新颖的编队控制策略允许在随机采样时刻间歇性地检查事件触发条件，其中数据传输由事件触发控制协议驱动。在此框架下，同时考虑时不变和时变地层控制。然后，基于代数图论和矩阵论，给出了保证二阶MAS达到指定地层形状的充分条件。最后，给出了仿真结果，证明了理论分析的有效性。