Multi-unmanned-agent inclusion control method based on event triggering mechanism

The invention discloses a multi-unmanned-agent inclusion control method based on an event triggering mechanism, and the method comprises the steps: calculating a final convergence position of a follower agent according to a system topological relation of a current multi-unmanned-agent; a piecewise function is designed, and limited convergence time is determined according to communication resources and operation time of a current multi-unmanned-driving-agent system; an event triggering mechanism is designed, and when the condition of the mechanism is met, a follower agent sends current position information, so that the event triggering frequency and the system performance are balanced; a distributed event triggering-based finite time containing control function is designed based on a piecewise function and an event triggering mechanism, a follower agent generates current control signal data according to a calculated function value at the current moment, and the follower agent is controlled to perform an action