Fully Distributed Event-Triggered Cooperative Output Regulation of Multiagent Systems Under Jointly Connected Digraphs

作者：Hao, Yahui; Zhang, Jin; Liu, Lu^*

来源：IEEE Transactions on Automatic Control, 2023, 68(7): 4241-4248.

DOI：10.1109/TAC.2022.3200961

• Cooperative output regulation
• event-triggered control (ETC)
• fully distributed
• heterogeneous linear multiagent systems (MASs)
• jointly connected digraphs

This article addresses the cooperative output regulation problem of heterogeneous linear multiagent systems with jointly connected digraphs under the assumption that the exosystem matrix is only known by the neighbors of the exosystem. First, a novel event-based adaptive distributed observer with time-dependent power functions as the event-triggering threshold is proposed to estimate the exosystem matrix and the exogenous signal simultaneously. A new analytical method based on the weighted mean-value theorem for integrals and Bellman-Gronwall lemma is developed to prove that the estimation errors converge to zero asymptotically. Second, a distributed dynamic control law is proposed based on the event-based adaptive observer, and it is shown that the tracking errors of the resulting closed-loop system converge to zero asymptotically. Two distinctive advantages of this work are that 1) the event-triggered control protocol is fully distributed, and 2) a positive minimum inter-event time is explicitly given so that Zeno behavior is strictly excluded. Finally, the effectiveness of the proposed fully distributed ETC protocol is illustrated by a numerical example.