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This paper addresses the problem of formation control and tracking a ofdesired trajectory by an Euler-Lagrange multi-agent systems. It is inspired byrecent results by Qingkai et al. and adopts an event-triggered control strategyto reduce the number of communications between agents. For that purpose, toevaluate its control input, each agent maintains estimators of the states ofthe other agents. Communication is triggered when the discrepancy between theactual state of an agent and the corresponding estimate reaches some threshold.The impact of additive state perturbations on the formation control is studied.A condition for the convergence of the multi-agent system to a stable formationis studied. Simulations show the effectiveness of the proposed approach.

Distributed event-triggered control for multi-agent formation stabilization and tracking