Cooperative Output Regulation of Heterogeneous Linear Multi-Agent Systems by Event-Triggered Control

Abstract

In this paper, we consider the cooperative output regulation problem of heterogeneous linear multi-agent systems (MASs) by event-triggered control. We first develop an event-triggering mechanism for leader-following consensus of homogeneous MASs. Then by proposing an internal reference model for each agent, a novel distributed event-triggered control scheme is developed to solve the cooperative output regulation problem of heterogeneous MASs. Furthermore, a novel self-triggered control scheme is also proposed, such that continuous monitoring of measurement errors can be avoided. The feasibility of both proposed control schemes is studied by excluding Zeno behavior for each agent. An example is finally provided to demonstrate the effectiveness of the control schemes.

Distributed adaptive integral‐type event‐triggered cooperative output regulation of switched multiagent systems by agent‐dependent switching with dwell time

“…Compared with the periodic sampling, the ETS has been verified to have significant advantages in decreasing the controller updates and alleviating the transmission burden of the communication network . Therefore, recent years have witnessed the extensive studies on the ETS of the COR for MASs in . By the own measurement error and information of each agent, the work in Reference presents a decentralized ETS to address the COR, without using the available information of neighbors.…”

“…In Reference , according to the own measurement error of each agent and relative information between neighboring agents, the distributed ETS is designed to achieve the COR. In References and , the distributed ETS with combinational measurements is presented to guarantee the COR of MASs, which is based on the measurement error of relative state information between neighboring agents. In References , the proposed triggering condition requires the real‐time relative state information between neighboring agents.…”

“…In References and , the distributed ETS with combinational measurements is presented to guarantee the COR of MASs, which is based on the measurement error of relative state information between neighboring agents. In References , the proposed triggering condition requires the real‐time relative state information between neighboring agents. To avoid using the real‐time information and keep intermittent communication, the work in Reference applies the relative state information between neighboring agents at the triggering instants and the own measurement error of each agent to design the integral‐type ETS.…”

Event-Triggered Bipartite Consensus of Single-Integrator Multi-Agent Systems with Measurement Noise

“…Event-triggered techniques have already been widely used in traditional consensus problems of MASs [19][20][21][22][23][24][25][26][27]. For example, a self-triggered protocol is proposed in [19] and a decentralized eventtriggered protocol ensuring average consensus is proposed in [20] for single-integrator MASs, time-dependent triggering functions are investigated in [24] for second-order MASs, and event-triggered consensus problems are considered in [25,26] for general linear systems, just name a few. Despite these achievements, event-triggered protocols have not been well studied for bipartite consensus [28,29], which thus motivates the present study.…”

Output consensus of multi‐agent systems with delayed and sampled‐data

“…In practical cases, most real world systems are uncertain, and the full states of agents maybe unknown. Therefore, output consensus has attracted numerous papers' attention in recent years, such as, [26,29,30,31,32]. Some representative works are summarized as follows.…”