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Distributed cooperative output regulation of heterogeneous linear multi-agent systems based on event- and
Juan Zhang1, Huaguang Zhang2, Yuliang Cai1
1College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning, 110004, China.
Abstract:
In this note, the cooperative output regulation problem is considered for a kind of heterogeneous linear multi-agent systems under undirected communication topological graphs. Our approach consists of two techniques, the design of distributed dynamic observer for exosystem under the event-triggered and self-triggered control mechanisms. Firstly, a distributed event-triggered control protocol is designed, which proves that multi-agent system can achieve stability and Zeno behavior is excluded under this protocol. Secondly, a self-triggered control protocol is designed to achieve the cooperative output regulation problem of heterogeneous multi-agent system. Moreover, by designing parameter in the self-triggered mechanism, the Zeno behavior does not exist. Finally, the theoretical results are verified by a simulation of output regulation problem under two triggered mechanisms.
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