Abstract
In the paper, we solve the cooperative output regulation problem of discrete-time linear multi-agent systems under directed switching networks. Firstly, a new adaptive distributed event-triggered observer is proposed, which does not require each follower to know the leader matrix information. In addition, we propose relative threshold and novel switching threshold event-triggered strategy, which can be used in different situations according to their respective characteristics. Then, we solve the cooperative output regulation problem for discrete-time linear multi-agent systems under directed switching networks by both distributed state feedback and distributed dynamic output feedback control laws utilizing the adaptive distributed event-triggered observer. Finally, a corresponding numerical simulation on the discrete-time linear multi-agent systems is conducted, and the cooperative output regulation performance is verified.
Highlights
O VER the past decade, cooperative output regulation has attracted great interest from many research communities because of their wide applications in various fields such as multi-robot cooperative work, multi-UAV cooperation and control
Reducing the burden of communication networks become a hot issue in this field when solve the cooperative output regulation problem of multiagent systems
[9] For a class of linear systems, event-triggered control is introduced systematically. [10] uses an event-triggered strategy for a class of disturbed linear systems, which reduces the burden of calculation and communication. [11] further aimed at the stabilization of linear time-invariant systems, and proposed an event-triggered strategy based on output signals. [12] systematically studied event-triggered based on output feedback for a class of uncertain minimum phase linear systems output regulation control problem
Summary
O VER the past decade, cooperative output regulation has attracted great interest from many research communities because of their wide applications in various fields such as multi-robot cooperative work, multi-UAV cooperation and control. We have several technical challenges in solving the cooperative output regulation problem for discretetime linear multi-agent systems under directed switching networks. It is not necessary for each follower to know the leader matrix information. The communication between each agent and its neighbors depends on the event-triggered time, periodic sampling time, and the dwell time of switching topology, which makes it more difficult to exclude Zeno phenomenon To overcome such challenges, the main contributions of this paper are follows: 1) In this paper, we remove the assumption that each follower must know the leader matrix information, so that the discrete-time linear multi-agent system can be fully distributed.
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