In this paper, a distributed event-triggered algorithm has considered for formation problem in second-order multi-agent system with fixed independent position and velocity interaction topologies. For each agent, the involved controller is designed to be updated by time instant that is determined by the local and current sampling data. Based on the Lyapunov control approach, a sufficient criterion has been derived that the desired formation shape can be ensured. Moreover, it is shown that the Zeno phenomenon can be excluded, and an extra control input has been utilized to implement obstacle avoidance. Finally, a numerical simulation is given to illustrate the effectiveness of the theoretical results.
