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

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Abstract

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.

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Authors and Affiliations

  1. State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science, College of Engineering, Peking University, Beijing, 100871, China

    Hang Su & Zhongkui Li

  2. Department of Control Science and Engineering, College of Electronics and Information Engineering, Tongji University, Shanghai, 201804, China

    Bin Cheng

  3. Frontiers Science Center for Intelligent Autonomous Systems, Shanghai, 201210, China

    Bin Cheng

Authors
  1. Hang Su
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  2. Bin Cheng
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  3. Zhongkui Li
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Corresponding author

Correspondence to Bin Cheng.

Additional information

This work was supported in part by the National Natural Science Foundation of China under Grant Nos. 61973006 and 62103302, Shanghai Sailing Program under Grant No. 21YF1450300, Shanghai Municipal Science and Technology Major Project under Grant No. 2021SHZDZX0100, Shanghai Municipal Commission of Science and Technology Project under Grant No. 19511132101, and the Fundamental Research Funds for the Central Universities under Grant No. 22120210523.

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Su, H., Cheng, B. & Li, Z. Cooperative Output Regulation of Heterogeneous Systems over Directed Graphs: A Dynamic Adaptive Event-Triggered Strategy. J Syst Sci Complex 36, 909–921 (2023). https://doi.org/10.1007/s11424-023-1501-9

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  • DOI: https://doi.org/10.1007/s11424-023-1501-9

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