Event-Based Practical Output Regulation for a Class of Multiagent Nonlinear Systems

This paper explores a cooperative practical output regulation problem for a class of heterogeneous multiagent nonlinear systems by event-based output feedback. Specifically, we shall restrict our attention to the situation of sampled-data-based local measurements. As usual, due to agents heterogeneity, we first convert the problem into a stabilization one for the so-called augmented system, composed of the agent systems and suitably designed continuous-time internal models. Then, we show that this stabilization can be solved by measurement feedback. It finally allows us to establish a valid event-based protocol, leading to a global practical stability property and meanwhile guaranteeing Zeno-free condition.