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Article summary:

1. Cooperative control of multi-agent systems and formation control: The article discusses the importance of cooperative control in multi-agent systems and the formation control problem, which aims to design distributed controllers for agents to maintain relative positions and orientations with each other.

2. Event-triggered control for cluster formation: The article introduces event-triggered control as a mechanism to optimize traditional control strategies. It explains how event-triggered sampling protocols can reduce the frequency of controller updates and presents examples of event-triggered schemes used in consensus problems, state estimation, and image control.

3. Fixed and switching topologies: The article addresses both fixed and switching topologies in the context of cluster formation. It provides sufficient conditions based on Lyapunov theory and LMI approach to solve the cluster formation problem for both cases. Numerical examples are also given to demonstrate the effectiveness of the theoretical results.

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