Event-Triggered Cooperative Output Regulation of Heterogeneous Multiagent Systems Under Switching Directed Topologies
研究了异构线性多智能体系统在联合连通有向图下的协同输出调节问题，提出了基于状态反馈和输出反馈的事件触发控制协议，使输出跟踪误差指数收敛到零，并严格排除Zeno行为。
In this article, the cooperative output regulation problem of heterogeneous linear multiagent systems under jointly connected digraphs is addressed. The event-triggered control protocols based on state feedback and output feedback are proposed, respectively. It is shown that the output tracking errors of the resulting closed-loop control systems converge to 0 exponentially via the proposed protocols. One of the key advantages of the proposed event-triggering mechanism is that the information transmissions induced by event triggerings and topology switchings are independent, and data transmissions among agents are thus reduced. Furthermore, an explicit minimum interevent time is provided for all the agents so that the Zeno-behavior is excluded strictly. Finally, three numerical examples are provided to verify the effectiveness of the proposed protocols.