Improved Event-Triggered Prescribed-Time Cooperative Output Regulation for Nonlinear Multiagent Systems

Nonlinear multiagent prescribed-time cooperative fault-tolerant output regulation is studied in this brief via event-triggered control. Different from the existing dynamic event-triggered mechanisms (DETMs), where the coefficients of the control signal of event-triggered conditions (ETCs) are constants, by designing the system-related dynamic coefficient for the control signal, the degree of freedom of the ETC is improved. The triggering threshold can be adjusted more flexibly according to the system information, thereby saving system resources. In addition, the co-designing controller and ETCs can easily exclude Zeno behavior and avoid bounded results caused by using the existing quadratic-based ETCs. The introduction of improved dynamic surface control (DSC) technology overcomes the "explosion of complexity" in the backstepping method. Finally, a circuit example illustrates the efficiency of the developed method.