Cooperative output regulation of multi-agent systems via energy-dependent intermittent event-triggered compensator approach

Abstract

In this paper, we investigate the cooperative output regulation problem by proposing a novel energy-dependent intermittent event-triggered compensator approach. The key aspect of this scheme is the utilization of the current error energy to determine when the agents should execute control protocols. To monitor the error energy, two lines, specifically security line and intermittent line, are constructed in the non-negative real region. Building upon these lines, an innovative intermittent rule is established to dynamically assign the communication period and the non-communication period based on real-time error energy. Based on this energy-dependent intermittent compensator, the distributed event-triggered controller is designed, which ensures that the regulation output converges asymptotically to zero. Compared with the current time-dependent mechanisms, the proposed energy-dependent intermittent event-triggered compensator mechanism can flexibly adapt to various situations according to the application needs, under which the multi-agent systems can tolerate more non-communication period and reduce the communication frequency. Finally, numerical simulations were performed to verify our results.