Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1176-1185

https://doi.org/10.1007/s12555-023-0013-7

© The International Journal of Control, Automation, and Systems

Dynamic Event-triggered Distributed Observer Based Output Regulation of Heterogeneous Multi-agent Systems

Kairui Chen, Zhangmou Zhu, Xianxian Zeng, and Jianhui Wang*

Guangzhou University

Abstract

In this paper, the output regulation problem for heterogeneous linear multi-agent systems is investigated, where each agent suffers from the detectability deficiency problem. Specifically, each agent has access to only partial output information of the exosystem, which bring about challenges to estimate full states of the exosystem. By using the observability decomposition technique, unobservable states in each agent are extracted. Then, a kind of distributed observer with dynamic event-triggered mechanism is developed to estimate full states of the exosystem for each agent cooperatively. Besides, the Zeno behavior is voided strictly when executing the event-triggered strategy. Furthermore, the distributed observer is employed to solve the output regulation problem of heterogeneous multi-agent systems based on the feedforward output regulation technique. Finally, a numerical example is conducted to verify the correctness of the proposed control algorithm.

Keywords Distributed observers, event-triggered control, heterogeneous multi-agent systems, output regulation.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1176-1185

Published online April 1, 2024 https://doi.org/10.1007/s12555-023-0013-7

Copyright © The International Journal of Control, Automation, and Systems.

Dynamic Event-triggered Distributed Observer Based Output Regulation of Heterogeneous Multi-agent Systems

Kairui Chen, Zhangmou Zhu, Xianxian Zeng, and Jianhui Wang*

Guangzhou University

Abstract

In this paper, the output regulation problem for heterogeneous linear multi-agent systems is investigated, where each agent suffers from the detectability deficiency problem. Specifically, each agent has access to only partial output information of the exosystem, which bring about challenges to estimate full states of the exosystem. By using the observability decomposition technique, unobservable states in each agent are extracted. Then, a kind of distributed observer with dynamic event-triggered mechanism is developed to estimate full states of the exosystem for each agent cooperatively. Besides, the Zeno behavior is voided strictly when executing the event-triggered strategy. Furthermore, the distributed observer is employed to solve the output regulation problem of heterogeneous multi-agent systems based on the feedforward output regulation technique. Finally, a numerical example is conducted to verify the correctness of the proposed control algorithm.

Keywords: Distributed observers, event-triggered control, heterogeneous multi-agent systems, output regulation.

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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