Event-Triggered Cooperative Output Regulation for Heterogeneous Multi-Agent Systems With an Uncertain Leader

This paper investigates the cooperative output regulation for heterogeneous linear multi-agent systems with an uncertain leader under the event-triggered control. Firstly, a local adaptive observer is designed to estimate the system matrices of the leader. Then, utilizing the estimated matrices, an adaptive estimator is proposed to observe the leader's dynamic behavior and an adaptive regulation law is presented to solve the output regulator equations online. Furthermore, by using the estimated state of the leader and the adaptive solutions of the output regulator equations, a distributed event-triggered controller and a novel self-triggered controller are designed such that the output of each follower can converge the leader's output, and Zeno behavior can be excluded for each agent. Finally, two numerical simulation examples are provided to verify the effectiveness of the proposed control approaches.