Event-triggered Cooperative Output Regulation of Heterogeneous Multi-agent Systems with Switching Topology
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摘要: 研究切换拓扑下线性异构多智能体系统的协同输出调节问题，并设计了一个基于事件触发的输出调节控制机制.设计的控制机制不仅可以实现智能体对外部系统的渐近跟踪和干扰抑制，还可以有效减少智能体之间的信息传递数量，从而降低通信负载减少网络能耗.最后通过仿真验证结论的有效性.Abstract: This paper studies the cooperative output regulation problem for multi-agent systems with switching topology. A novel event-triggered control scheme is designed, which can reduce communication load and save network energy. It is shown that under the proposed control strategy, agents can achieve asymptotic tracking and disturbance rejection. Finally, an example is presented to illustrate the effectiveness of main results.
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图 1 智能体的调节输出 $e_{i1}(t)$ , $i=1,\cdots,4$
Fig. 1 Regulated outputs $e_{i1}(t)$ , $i=1,\cdots,4$
图 2 智能体的调节输出 $e_{i2}(t)$ , $i=1,\cdots,4$
Fig. 2 Regulated outputs $e_{i2}(t)$ , $i=1,\cdots,4$
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