Event-triggered output regulation for linear multi-agent systems

In this paper, we continue considering the distributed output regulation problem which mainly concerns the asymptotically tracking an active leader, and/or distributed disturbance rejection. Here we focus on the distributed output regulation with event driven strategies of multi-agent systems. The event driven control actuation updating depends on a trigger function with respect to a specified measurement error threshold. We consider both static and dynamic distributed feedback controllers with different trigger functions. Solvability conditions are proposed. Moreover, a systematic design approach is proposed to handle the event-triggered output regulation via dynamic state feedback with the help of internal model.

[1]  Yiguang Hong,et al.  Distributed Observers Design for Leader-Following Control of Multi-Agent Networks (Extended Version) , 2017, 1801.00258.

[2]  Zengqiang Chen,et al.  Event-triggered average-consensus for multi-agent systems , 2010, Proceedings of the 29th Chinese Control Conference.

[3]  Reza Olfati-Saber,et al.  Flocking for multi-agent dynamic systems: algorithms and theory , 2006, IEEE Transactions on Automatic Control.

[4]  A. Isidori,et al.  Output regulation of nonlinear systems , 1990 .

[5]  Jie Huang,et al.  Nonlinear Output Regulation: Theory and Applications , 2004 .

[6]  Jie Lin,et al.  Coordination of groups of mobile autonomous agents using nearest neighbor rules , 2003, IEEE Trans. Autom. Control..

[7]  Paulo Tabuada,et al.  Event-Triggered Real-Time Scheduling of Stabilizing Control Tasks , 2007, IEEE Transactions on Automatic Control.

[8]  Zhong-Ping Jiang,et al.  A Distributed Control Approach to A Robust Output Regulation Problem for Multi-Agent Linear Systems , 2010, IEEE Transactions on Automatic Control.

[9]  B. Francis.  The linear multivariable regulator problem , 1976, 1976 IEEE Conference on Decision and Control including the 15th Symposium on Adaptive Processes.

[10]  Adi Ben-Israel,et al.  Generalized inverses: theory and applications , 1974 .

[11]  Karl Henrik Johansson,et al.  Event-triggered cooperative control , 2009, 2009 European Control Conference (ECC).

[12]  Xiaofeng Wang,et al.  Event-triggered broadcasting across distributed networked control systems , 2008, 2008 American Control Conference.

[13]  Gordon F. Royle,et al.  Algebraic Graph Theory , 2001, Graduate texts in mathematics.

[14]  Jiangping Hu,et al.  Tracking control for multi-agent consensus with an active leader and variable topology , 2006, Autom..

[15]  David W. Lewis,et al.  Matrix theory , 1991 .

[16]  Karl Henrik Johansson,et al.  Event-triggered control for multi-agent systems , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[17]  Richard M. Murray,et al.  INFORMATION FLOW AND COOPERATIVE CONTROL OF VEHICLE FORMATIONS , 2002 .

[18]  Jiangping Hu,et al.  Leader-following coordination of multi-agent systems with coupling time delays , 2007, 0705.0401.