Fully distributed adaptive cooperative output regulation of heterogeneous multi-agent systems with hybrid event-triggering mechanism

Abstract

This study focuses on the event-triggered cooperative output regulation problem (CORP) of multi-agent systems with heterogeneous dynamics. Two design criteria are required be achieved: event-triggered communication between agents has strictly positive minimum inter-event time (MIET), and global information with respect to communication topology is not needed to implement the event-triggered control strategy. These two criteria are significant, but cannot be simultaneously satisfied using the relevant existing results. In this work, two event-triggered observers with hybrid triggering conditions are developed to estimate the matrix and state of the exosystem, the MIET is enforced to be positive by incorporating an auxiliary function with decreasing dynamics into the event-triggering mechanism (ETM). This is more stringent than simply removing Zeno behavior and is more useful in engineering applications. Additionally, distributed controllers are developed based on the estimated state and regulator equation. The proposed method, which is better and more useful than the up-to-date results in literature, and can satisfy the two design criteria as mentioned before. Finally, numerical examples are provided to demonstrate the effectiveness.