Cooperative output regulation of heterogeneous linear multi-agent systems based on the event-triggered distributed control under switching topologies

Abstract

This paper studies the cooperative output regulation (COR) problem of heterogeneous linear multi-agent systems (MAS)s based on two kinds of event-triggered control protocols under time-varying topologies. Firstly, a state feedback distributed control scheme is designed to achieve COR problem and eliminate Zeno behavior of the MASs with only intermittent communication between neighbors. The design of such a controller requires the assumption that the states of all agents are measurable. Secondly, we design a dynamic output feedback control law which does not need to assume that all states are measurable in the MASs. The COR problem of MASs is also implemented without Zeno behavior existing. Under the proposed two kinds of triggering mechanisms, each agent sends information to its neighbors only at its switching and triggering times. Finally, several examples are introduced to illustrate effectiveness and practicability of the theoretical results. And we add a comparative experiment to highlight the advantages of the design methods in this paper.