Cooperative robust output regulation of linear uncertain multi‐agent systems: A dynamic event‐triggered approach

Abstract

In the article, the cooperative robust output regulation problem of multi‐agent systems with general linear uncertain dynamics is investigated by event‐triggered control. Recently, the similar problem is solved practically by a distributed event‐triggered control law where the tracking error of the system tends to some small neighborhood of the origin asymptotically. In comparison, we develop a distributed event‐triggered output feedback control law together with a class of dynamic event‐triggered mechanisms to solve this problem exactly. In particular, we first design a class of dynamic event‐triggered mechanisms. Then, based on the internal model principle, we propose a distributed event‐triggered output feedback control law. By rigorous proofs, we show that under the proposed distributed control law together with the dynamic event‐triggered mechanism, the cooperative robust output regulation problem is solved exactly, which means that the tracking errors of all followers converge to zero asymptotically while prohibiting the Zeno behavior. Finally, we use an example to illustrate our control approach.

Event‐triggered cooperative robust output regulation of minimum‐phase linear uncertain multi‐agent systems

“…In practice, there always exist uncertainties in the system parameters. The cooperative robust output regulation problem of linear uncertain multi‐agent systems by event‐triggered control has been considered in References 23–25, and 30. In particular, an event‐triggered distributed adaptive control law is proposed in Reference 24 to study the cooperative robust output regulation problem of linear uncertain multi‐agent systems.…”

“…Moreover, a lower bound for inter‐event times is obtained. Following Reference 23, by developing a class of event‐triggered distributed output feedback control laws and a class of dynamic event‐triggered mechanisms in Reference 30, the cooperative robust output regulation problem is solved exactly. Compared with Reference 24, the control laws in References 23 and 30 can be directly implemented on digital platforms.…”

“…Following Reference 23, by developing a class of event‐triggered distributed output feedback control laws and a class of dynamic event‐triggered mechanisms in Reference 30, the cooperative robust output regulation problem is solved exactly. Compared with Reference 24, the control laws in References 23 and 30 can be directly implemented on digital platforms. In Reference 25, the cooperative robust output regulation problem of minimum‐phase linear uncertain multi‐agent systems is studied by proposing an event‐triggered distributed control law and a class of event‐triggered mechanisms.…”