Cooperative output regulation of heterogeneous linear multi-agent systems based on the event-triggered distributed control under switching topologies

Highlights：

• We design the new distributed dynamic compensators for an exosystem with the state depending on the triggering and switching times.

• Two novel event-triggered control protocols are designed to achieve COR problem in the MASs, which reduce communication with neighboring agents. Fixed topology can be regarded as a special switching topology. Event-triggered protocols proposed by us can also handle COR problems under fixed topology.

• Two kinds of event-triggered control schemes are adopted to achieve the COR problem of heterogeneous linear MASs under switching topologies. It is more practical in practical systems and the proof of excluding Zeno behavior is more complicated. Moreover, we explicitly give the lower bound of the minimum interaction event interval, which is strictly positive for any time t. It implies that Zeno behavior is excluded at any time t. However, many papers used event-triggered mechanisms to achieve the control goal of the MASs, only to prove that the MASs will not exhibit Zeno behavior for any limited time.

摘要

•We design the new distributed dynamic compensators for an exosystem with the state depending on the triggering and switching times.•Two novel event-triggered control protocols are designed to achieve COR problem in the MASs, which reduce communication with neighboring agents. Fixed topology can be regarded as a special switching topology. Event-triggered protocols proposed by us can also handle COR problems under fixed topology.•Two kinds of event-triggered control schemes are adopted to achieve the COR problem of heterogeneous linear MASs under switching topologies. It is more practical in practical systems and the proof of excluding Zeno behavior is more complicated. Moreover, we explicitly give the lower bound of the minimum interaction event interval, which is strictly positive for any time t. It implies that Zeno behavior is excluded at any time t. However, many papers used event-triggered mechanisms to achieve the control goal of the MASs, only to prove that the MASs will not exhibit Zeno behavior for any limited time.