Event-Triggered Cooperative Robust Output Regulation for Nonlinear Multi-Agent Systems with Uncertain Exosystems
Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review
Author(s)
Related Research Unit(s)
Detail(s)
Original language | English |
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Title of host publication | Proceedings of The 2024 IEEE International Conference on Real-time Computing and Robotics |
Publisher | Institute of Electrical and Electronics Engineers, Inc. |
Pages | 142-148 |
ISBN (electronic) | 979-8-3503-7260-1 |
ISBN (print) | 979-8-3503-7261-8 |
Publication status | Published - 2024 |
Publication series
Name | IEEE International Conference on Real-Time Computing and Robotics, RCAR |
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Conference
Title | 2024 IEEE International Conference on Real-Time Computing and Robotics (RCAR 2024) |
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Place | Norway |
City | Alesund |
Period | 24 - 28 June 2024 |
Link(s)
Abstract
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.
Citation Format(s)
Event-Triggered Cooperative Robust Output Regulation for Nonlinear Multi-Agent Systems with Uncertain Exosystems. / HAO, Yahui; ZHENG, Boyin; LIU, Lu.
Proceedings of The 2024 IEEE International Conference on Real-time Computing and Robotics. Institute of Electrical and Electronics Engineers, Inc., 2024. p. 142-148 (IEEE International Conference on Real-Time Computing and Robotics, RCAR).
Proceedings of The 2024 IEEE International Conference on Real-time Computing and Robotics. Institute of Electrical and Electronics Engineers, Inc., 2024. p. 142-148 (IEEE International Conference on Real-Time Computing and Robotics, RCAR).
Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review