Output Regulation Problem of Adaptive Dynamic Event-Triggered Cooperative Control for Multiagent Systems

This paper focuses on cooperative output regulation (COR) problem under directed topology for multiagent systems (MASs). In order to solve the COR problem, the fully distributed event-triggered adaptive strategies is proposed which has a positive internal variable in the trigger mechanism. This method can greatly reduce the trigger times, and does not use the global information of the communication graph, so that the method can be extended to large-scale multi-agent systems. It is worth noting that the method in this paper is based on a directed graph. Since the Laplace matrix loses its symmetry, it is extremely difficult to solve this problem. Finally, a numerical simulation example is given in the experimental simulation part to prove the effectiveness of the method.