Sampled-Data-Based Event-Triggered Output-Feedback Consensus for Uncertain Heterogeneous High-Order Multiagent Systems
针对一类带有参数不确定性的异构高阶多智能体系统，提出基于采样数据的事件触发输出反馈一致性控制协议，通过分布式观测器和反步法设计，节省通信和计算资源，并避免Zeno行为。
This article establishes a series of theoretical findings on the sampled-data-based event-triggered (SET) output-feedback consensus for a class of heterogeneous high-order multiagent systems (MASs) with mismatched parametric uncertainties. First, a distributed SET leader observer is devised for each agent to estimate the information of leader, and its convergence is rigorously proven based on matrix theory and analysis approaches. Second, a continuous state observer is developed using solely SET output signal influenced by sensor faults is proposed to avoid the nondifferentiability of the virtual controller, and the SET output-feedback control protocol is designed via the backstepping technique. It is proven that the semi-global output consensus problem can be addressed through the proposed controller. Different from the existing work, the consensus protocol presented in this article further saves communicational and computational resources, because the SET mechanisms are deployed to each channel of MASs which merely need to discretely monitor the event-triggered (ET) conditions at sampling instants and transmit the information at triggered time. Besides, the Zeno behavior can be trivially prevented. Finally, a simulation example is depicted to demonstrate the validity of the proposed theoretical results.