Cooperative output regulation of linear multi-agent systems with an event-triggered adaptive distributed observer

Abstract

The event-triggered cooperative output regulation problem of linear multi-agent systems has been addressed under the assumption that the system matrix of the exosystem is known to all agents in previous studies. To remove the assumption, this paper proposes an event-triggered adaptive distributed observer, which is designed to estimate the system matrix of the exosystem. With the proposed triggering mechanism, each agent only sends the information to its neighbors at its own triggering times. Moreover, by introducing a fixed timer, Zeno behavior can be strictly excluded. The effectiveness of the proposed event-triggered adaptive distributed observer is demonstrated by an example.