Cooperative robust output regulation of linear uncertain multi-agent systems: A dynamic event-triggered approach

In the article, the cooperative robust output regulation problem of multi-agent systems with general linear uncertain dynamics is investigated by event-triggered control. Recently, the similar problem is solved practically by a distributed event-triggered control law where the tracking error of the system tends to some small neighborhood of the origin asymptotically. In comparison, we develop a distributed event-triggered output feedback control law together with a class of dynamic event-triggered mechanisms to solve this problem exactly. In particular, we first design a class of dynamic event-triggered mechanisms. Then, based on the internal model principle, we propose a distributed event-triggered output feedback control law. By rigorous proofs, we show that under the proposed distributed control law together with the dynamic event-triggered mechanism, the cooperative robust output regulation problem is solved exactly, which means that the tracking errors of all followers converge to zero asymptotically while prohibiting the Zeno behavior. Finally, we use an example to illustrate our control approach.