Cooperative Output Regulation of Heterogeneous Systems over Directed Graphs: A Dynamic Adaptive Event-Triggered Strategy

This paper investigates the cooperative output regulation problem of heterogeneous linear multi-agent systems over directed graphs with the constraint of communication bandwidth. Given that there exists an exosystem whose state information is not available to all agents, the authors develop distributed adaptive event-triggered observers for the followers based on relative information between neighboring agents. It should be pointed out that, two kinds of time-varying gains are introduced to avoid relying on any global information associated with the network, and dynamic triggering conditions are designed to get rid of continuous communications. On the basis of the designed observers, the authors devise a local controller for each agent. Compared with the existing related works, the main contribution of the current paper is that the cooperative output regulation problem for general directed graphs is solved requiring neither global information nor continuous communications.