Distributed Dynamic Event-Triggered Control for Cooperative Output Regulation of Linear Multiagent Systems

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Original languageEnglish
Article number8681715
Pages (from-to)3023-3032
Number of pages10
Journal / PublicationIEEE Transactions on Cybernetics
Issue number7
Online published4 Apr 2019
Publication statusPublished - Jul 2020


This paper investigates the cooperative output regulation problem for heterogeneous linear multiagent systems under fixed communication graphs via event-triggered control. A fully distributed event-triggered dynamic output feedback control law is proposed based on the feedforward design approach. At the same time, a fully distributed dynamic event-triggering mechanism is designed so that each agent can determine when to broadcast its information to its neighbors. Compared with existing related results, both the control law and the event-triggering mechanism in this paper are independent of any global information. It is shown that with the proposed dynamic event-triggered control strategy, the cooperative output regulation problem can be solved in a fully distributed manner by intermittent communication. Moreover, Zeno behavior can be strictly ruled out for each agent. Finally, the effectiveness of the proposed dynamic event-triggered control strategy is validated by a numerical example.

Research Area(s)

  • Adaptive control, cooperative control, event-triggered control, multiagent systems (MASs), output regulation