Cooperative Global Robust Practical Output Regulation of Nonlinear Lower Triangular Multiagent Systems via...

Area of Science:

• Control Systems Engineering
• Nonlinear Systems Theory
• Multiagent Systems

Background:

• Cooperative control is crucial for multiagent systems but challenging for uncertain nonlinear systems.
• Robust practical output regulation ensures system stability and performance despite uncertainties.
• Event-triggered control aims to reduce communication and computation load.

Purpose of the Study:

• To investigate cooperative global robust practical output regulation for uncertain nonlinear multiagent systems.
• To develop an event-triggered control strategy for these systems.
• To ensure system stability and performance under uncertainty and reduced communication.

Main Methods:

• Constructing a decentralized internal model to transform regulation into a stabilization problem.
• Designing a nonlinear decentralized state-feedback controller for input-to-state stabilization.
• Embedding an event-triggering mechanism for controller redesign and efficiency.

Main Results:

• The proposed method successfully translates the regulation problem into a stabilization one.
• Input-to-state stabilization is achieved with sampling error as the input.
• An event-based controller redesign is accomplished, verifying theoretical results with an example.

Conclusions:

• The developed event-triggered control strategy effectively achieves cooperative global robust practical output regulation.
• The approach enhances efficiency by reducing control updates through an event-triggering mechanism.
• The findings are validated through an illustrative example, confirming the robustness and practicality of the control method.