Event-Triggered Cooperative Robust Practical Output Regulation for a Class of Linear Multi-Agent Systems

摘要

In this paper, we consider the event-triggered cooperative robust practicaloutput regulation problem for a class of linear minimum-phase multi-agentsystems. We first convert our problem into the cooperative robust practicalstabilization problem of a well defined augmented system Based on thedistributed internal model approach. Then, we design a distributedevent-triggered output feedback control law together with a distributedoutput-based event-triggered mechanism to stabilize the augmented system, whichleads to the solvability of the cooperative robust practical output regulationproblem of the original plant. Our distributed control law can be directlyimplemented in a digital platform provided that the distributed triggeringmechanism can monitor the continuous-time output information from neighboringagents. Finally, we illustrate our design by an example.