Cooperative Global Robust Output Regulation for a Class of Nonlinear Multi-Agent Systems by Distributed Event-Triggered Control

摘要

This paper studies the event-triggered cooperative global robust outputregulation problem for a class of nonlinear multi-agent systems via adistributed internal model design. We show that our problem can be solvedpractically in the sense that the ultimate bound of the tracking error can bemade arbitrarily small by adjusting a design parameter in the proposedevent-triggered mechanism. Our result offers a few new features. First, ourcontrol law is robust against both external disturbances and parameteruncertainties, which are allowed to belong to some arbitrarily large prescribedcompact sets. Second, the nonlinear functions in our system do not need tosatisfy the global Lipchitz condition. Thus our systems are general enough toinclude some benchmark nonlinear systems that cannot be handled by existingapproaches. Finally, our control law is a specific distributed output-basedevent-triggered control law, which lends itself to a direct digitalimplementation.