Robust cooperative output regulation of multi-agent systems via adaptive event-triggered control

Ruohan Yang ^a,b , Hao Zhang ^a , , Gang Feng ^b , Huaicheng Yan ^c,d , Zhuping Wang ^a

^a Department of Control Science and Engineering, Tongji University, Shanghai 200092, China

^b Department of Biomedical Engineering, City University of Hong Kong, Kowloon, Hong Kong

^c Key Laboratory of Advanced Control and Optimization for Chemical Process of Ministry of Education, East China University of Science and Technology, Shanghai 200237, China

^d School of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China

Abstract:

This paper investigates the robust cooperative output regulation problem of uncertain linear multi-agent systems with additive disturbances via the celebrated internal model principle. Two novel distributed controllers are designed based on the adaptive control strategy and the event-triggered transmission scheme, where the adaptive control strategy is utilized to avoid the requirement for a priori knowledge of the minimal nonzero eigenvalue of the Laplacian matrix associated with the communication topology, and the event-triggered transmission scheme is utilized to reduce the frequency of data transmission. It is shown that the proposed control schemes achieve robust cooperative output regulation asymptotically and Zeno behavior is excluded. Finally, a simulation example is presented to illustrate the effectiveness of the proposed controllers.