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Cooperative output regulation of heterogeneous multiagent systems based on event‐triggered control with fixed and switching topologies
Author(s) -
Jia Hongwei,
Zhao Jun
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3904
Subject(s) - network topology , control theory (sociology) , dwell time , multi agent system , lyapunov function , computer science , observer (physics) , estimator , control (management) , topology (electrical circuits) , mathematics , nonlinear system , artificial intelligence , computer network , medicine , clinical psychology , statistics , physics , quantum mechanics , combinatorics
Summary This paper addresses the cooperative output regulation problem of multiagent systems with fixed and switching topologies. Each agent is a heterogeneous linear system, and the output of the exosystem can be available to only a subset of agents. For the agents that can directly access the exosystem, a common observer based on an event‐triggered strategy is constructed to estimate the exogenous signal for feedback control design. For the rest of the agents, estimators based on an event‐triggered mechanism to acquire the estimation value of the exogenous signal are designed under some essential assumptions. A decentralized event‐triggered formulation is considered first by applying a Lyapunov function for a fixed topology. Furthermore, a topology‐dependent triggering condition and the average dwell‐time switching law are deduced simultaneously by using multiple Lyapunov functions for switching topologies. Under communication constraints, we propose observer‐based and estimator‐based feedback controllers to solve the cooperative output regulation problem using available local information among agents. Two examples are finally provided to verify the effectiveness of the proposed theoretical results.