In this article, the cooperative output regulation problem of heterogeneous multiagent systems has been investigated. It is assumed that only a few agents could know the system matrix of the exosystem and no agent knows the topological information. Under these conditions, a novel distributed online algorithm is proposed to estimate the information relevant to the topology. Based on this algorithm, a distributed event-triggered adaptive observer is designed such that each agent can observe the exosystem. It is theoretically shown that the proposed distributed controller will make the multiagent system achieve cooperative output regulation asymptotically. Finally, a simulation is presented to show the effectiveness of the result.

中文翻译：

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基于在线估计算法的多智能体系统协同输出调节的分布式事件触发控制


本文研究了异构多智能体系统的协作输出调节问题。假设只有少数智能体可以知道外系统的系统矩阵，并且没有智能体知道拓扑信息。在这些条件下，提出了一种新颖的分布式在线算法来估计与拓扑相关的信息。基于该算法，设计了分布式事件触发自适应观测器，使得每个智能体都可以观测外系统。理论上表明，所提出的分布式控制器将使多智能体系统渐近地实现协作输出调节。最后通过仿真验证了结果的有效性。