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

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review

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Detail(s)

Original languageEnglish
Title of host publicationProceedings of The 2024 IEEE International Conference on Real-time Computing and Robotics
PublisherInstitute of Electrical and Electronics Engineers, Inc.
Pages142-148
ISBN (electronic)979-8-3503-7260-1
ISBN (print)979-8-3503-7261-8
Publication statusPublished - 2024

Publication series

NameIEEE International Conference on Real-Time Computing and Robotics, RCAR

Conference

Title2024 IEEE International Conference on Real-Time Computing and Robotics (RCAR 2024)
PlaceNorway
CityAlesund
Period24 - 28 June 2024

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).

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review