Event-triggered cooperative robust output regulation of minimum-phase linear uncertain multi-agent systems

In this article, we investigate the event-triggered cooperative robust output regulation problem of a class of minimum-phase linear uncertain multi-agent systems. In particular, we first propose a dynamic event-triggered mechanism and an event-triggered distributed output feedback control law. Then, by the internal model, the event-triggered cooperative robust output regulation problem is converted into the event-triggered cooperative robust stabilization problem of an augmented system composed of the distributed internal model and the original multi-agent system. Next, we show that the event-triggered cooperative robust stabilization problem can be solved by the proposed event-triggered distributed output feedback control law together with a dynamic event-triggered mechanism, and thus the event-triggered cooperative robust output regulation problem is solved exactly in the sense that the tracking error of each subsystem converges to zero asymptotically while preventing the Zeno behavior from happening. Finally, we provide an example to illustrate the proposed control approach.