  In this paper, the formation control of multi-agent systems in random
switching communication topology is studied, and the problem of excessive
bandwidth and low control efficiency among multi-agents is solved. For
nonlinear multi-agent systems, a sliding mode formation control algorithm with
event-triggered random switching communication topology is proposed. Firstly, a
fault-tolerant control strategy based on stochastic system model is designed to
solve the problem of low controller efficiency and controller failure during
the formation of multi-agent systems. Compared with the traditional multi-agent
system dynamic model, the stochastic system model has stronger universality,
which improves the efficiency of the controller. Secondly, in order to deal
with the problem of high communication load and frequency between agents during
formation in random switching communication topology, the sample-based event
triggering controller is introduced into the controller, which effectively
reduces the communication frequency and reduces the impact of communication
delay. Finally, the stability and robustness of event-triggered random
switching topology formation control are verified by computer simulation.
