Cooperative output regulation of heterogeneous linear multi-agent systems via fully distributed event-triggered adaptive control

摘要

In this paper, we discuss the cooperative output regulation problem for a class of heterogeneous linear multi-agent systems under undirected communication topological graph. First, an adaptive event-triggered protocol is introduced to achieve the consensus problem for leader-following system. Then, two fully distributed event-triggered adaptive control protocols are designed. That is, the state feedback and dynamic output feedback controllers, which does not need global information about network topology of system. Under the proposed two control protocols, the cooperative output regulation problem can be solved and no Zeno behavior happens for each agent. Finally, a numerical simulation is used to corroborate the validity of the conclusions under two control laws. Moreover, a comparative experiment is carried out to highlight the advantages of the control protocol designed in this paper. (C) 2020 Elsevier B.V. All rights reserved.