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    This study presents an output-based event-triggered control strategy for constrained multiagent systems, ensuring robust leader-following consensus and mitigating performance degradation from input saturation using an anti-windup technique.

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    Area of Science:

    • Control Systems Engineering
    • Multiagent Systems
    • Robust Control Theory

    Background:

    • Addressing cooperative output regulation in constrained linear heterogeneous multiagent systems is complex.
    • Input saturation can degrade system performance and stability.
    • Existing event-triggered control methods may not fully address these challenges simultaneously.

    Purpose of the Study:

    • To develop an output-based, event-triggered cooperative control strategy for constrained linear heterogeneous multiagent systems.
    • To guarantee H-infinity leader-following consensus despite external disturbances and reference tracking.
    • To enhance system robustness against input saturation using anti-windup techniques.

    Main Methods:

    • Utilizing robust control theory and H-infinity consensus.
    • Implementing a model recovery anti-windup technique to handle input saturation.
    • Integrating follower/leader state observers and an anti-windup auxiliary system.
    • Developing a unified, full-state, output-based event-triggering mechanism with a fixed lower bound on sampled intervals to prevent Zeno behavior.

    Main Results:

    • H-infinity leader-following consensus is guaranteed for exogenous signals (disturbance rejection and reference tracking).
    • System performance degradation due to input saturation is alleviated by the anti-windup technique.
    • The unified event-triggering mechanism ensures reduced data transmission frequency without Zeno behavior.
    • The proposed controller is directly implementable on digital platforms due to constant controller/compensator outputs during intervals.

    Conclusions:

    • The developed output-based event-triggered control strategy effectively addresses cooperative output regulation in constrained multiagent systems.
    • The integration of observers, anti-windup, and a unified event-triggering mechanism provides robust and efficient control.
    • The approach ensures stability, performance, and practical digital implementation, validated by simulation.