Event-Triggered Cooperative Robust Output Regulation for Nonlinear Multi-Agent Systems with Uncertain Exosystems

This paper addresses the event-triggered cooperative robust output regulation problem for multi-agent systems with uncertain exosystems. Existing distributed event-triggered observers rely on the accurate model of the exosystem, which cannot be applied to handle uncertain exosystems. To tackle this issue, a novel adaptive internal model-based observer is proposed. This observer estimates the exosystem's output using event-triggered communication among agents. However, implementing this observer presents challenges in determining the decay rate of the observer error, which affects the prevention of Zeno behavior. To overcome these issues, two resettable and non-increasing dynamic variables are proposed to specify the event-triggering instants of each agent. With the dynamic variables, a positive minimum inter-event time can be provided with bounded MAS states, thus excluding Zeno behavior. Finally, the effectiveness of the proposed control protocol is verified through a simulation. © 2024 IEEE.