Output-Based Event-Triggered Cooperative Robust Regulation for Constrained Heterogeneous Multiagent Systems

The output-based event-triggered cooperative output regulation problem is addressed for constrained linear heterogeneous multiagent system in this article. In light of the robust control theory, H_∞ leader-following consensus with respect to exogenous signals, including both disturbance to be rejected and reference state of leader to be tracked, is guaranteed. Meanwhile, the system performance alleviates degradation through a model recovery anti-windup technique while encountering input saturation. Furthermore, the follower's self-state observer, the leader-state observer, and the anti-windup auxiliary system are integrated into a comprehensive system, and a unified event-triggering mechanism of full states is addressed. A fixed lower bound of sampled interval is adopted such that the frequency of data transmission gets reduced and no Zeno-behavior happens. Both the input and output of the follower's controller and anti-windup compensator hold constant, respectively, during the event-triggered intervals such that the resulting output-based event-triggered controller can be directly implemented in a digital platform. Finally, a simulation example is provided to illustrate the effectiveness.