Observer-based adaptive event-triggered control for robust cooperative output regulation of multi-agent systems

Abstract

This paper is concerned with the distributed control for robust output regulation of multi-agent systems(MASs) with adaptive event-triggered mechanism. A novel distributed adaptive control law based on output feedback is developed, which can avoid using the minimal nonzero eigenvalue of Laplacian matrix associated with global system topology and reduce the frequency of data transmission. It is shown that the proposed control law achieves robust cooperative output regulation asymptotically and Zeno behavior is excluded. Finally, a numerical example is given to verify the efficiencies of theoretical results.