期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 63, 期 2, 页码 548-555出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2017.2727821
关键词
Cooperative output regulation; directed topology; heterogeneous linear systems; multi-agent systems; time/event-triggering strategy
资金
- Research Grants Council of Hong Kong Special Administrative Region of China [CityU/11209514, CityU/11204315]
- Innovation-Driven Plan in Central South University
This paper addresses the cooperative output regulation problem of heterogeneous linear multi-agent systems with directed communication topologies, requiring only intermittent communication. First, we propose a unified framework of time- and event-triggering strategies. Then based on the unified triggering framework, a novel triggering mechanism utilizing the self-triggering strategy is developed. It is shown that with the proposed triggering mechanism, the cooperative output regulation problem can be solved by a distributed control law with only intermittent communication. It is further shown that with the unified framework of time- and event-triggering strategies for each agent, a positive minimum inter-event time can be explicitly given and Zeno behavior can be thus excluded. An example is finally provided to demonstrate the effectiveness of the proposed controller and the triggering mechanism.
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