This study considers the problem of periodic event-triggered (PET) cooperative output regulation for a class of linear multi-agent systems. The advantage of the PET output regulation is that the data transmission and triggered condition are only needed to be monitored at discrete sampling instants. It is assumed that only a small number of agents can have access to the system matrix and states of the leader. Meanwhile, the PET mechanism is considered not only in the communication between various agents, but also in the sensor-to-controller and controller-to-actuator transmission channels for each agent. The above problem set-up will bring some challenges to the controller design and stability analysis. Based on a novel PET distributed observer, a PET dynamic output feedback control method is developed for each follower. Compared with the existing works, our method can naturally exclude the Zeno behavior, and the inter-event time becomes multiples of the sampling period. Furthermore, for every follower, the minimum inter-event time can be determined a prior, and computed directly without the knowledge of the leader information. An example is given to verify and illustrate the effectiveness of the new design scheme.

本研究考虑了一类线性多智能体系统的周期性事件触发（PET）协作输出调节问题。PET输出调节的优点在于，仅需要在离散的采样时刻监视数据传输和触发条件。假设只有少数座席可以访问系统矩阵和领导者的状态。同时，不仅在各种代理之间的通信中，而且在每个代理的传感器到控制器和控制器到致动器的传输通道中都考虑了PET机制。上述问题设置将给控制器设计和稳定性分析带来一些挑战。基于一种新颖的PET分布式观察器，为每个跟随者开发了一种PET动态输出反馈控制方法。与现有作品相比，我们的方法可以自然地排除芝诺行为，并且事件间时间成为采样周期的倍数。此外，对于每个关注者，可以确定最小的活动间隔时间先验，并且在不了解领导者信息的情况下直接计算。给出了一个示例来验证和说明新设计方案的有效性。