Adaptive Event-Triggered Control Approach to the Cooperative Output Regulation of Heterogeneous Multiagent Systems Under Digraphs

The cooperative output regulation (COR) problem of heterogeneous linear multiagent systems under digraphs has been considered under the assumption that continuous communication between neighbors and continuous update of controllers. To get rid of this assumption, that is, to realize event-triggered communication between neighbors and discrete update of controllers, this article proposes the fully distributed event-triggered observers to estimate the matrix and the state for the exosystem, and the event-triggered controllers to solve the COR problem. Moreover, the Zeno behavior is excluded by proving that the interevent times of each agent are strictly greater than zero under the design triggering conditions. Finally, two examples are given to verify the effectiveness and advantages of the proposed methods.