Abstract This paper studies the cooperative output regulation (COR) problem of heterogeneous linear multi-agent systems (MAS)s based on two kinds of event-triggered control protocols under time-varying topologies. Firstly, a state feedback distributed control scheme is designed to achieve COR problem and eliminate Zeno behavior of the MASs with only intermittent communication between neighbors. The design of such a controller requires the assumption that the states of all agents are measurable. Secondly, we design a dynamic output feedback control law which does not need to assume that all states are measurable in the MASs. The COR problem of MASs is also implemented without Zeno behavior existing. Under the proposed two kinds of triggering mechanisms, each agent sends information to its neighbors only at its switching and triggering times. Finally, several examples are introduced to illustrate effectiveness and practicability of the theoretical results. And we add a comparative experiment to highlight the advantages of the design methods in this paper.

中文翻译：

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切换拓扑下基于事件触发分布式控制的异构线性多智能体系统协同输出调节

摘要 本文研究了时变拓扑下基于两种事件触发控制协议的异构线性多智能体系统(MAS)的协同输出调节(COR)问题。首先，设计了一种状态反馈分布式控制方案来解决 COR 问题并消除 MAS 的 Zeno 行为，仅在邻居之间进行间歇性通信。这种控制器的设计需要假设所有代理的状态都是可测量的。其次，我们设计了一个动态输出反馈控制律，它不需要假设 MAS 中的所有状态都是可测量的。MAS 的 COR 问题也是在不存在 Zeno 行为的情况下实现的。在提出的两种触发机制下，每个代理仅在其切换和触发时间向其邻居发送信息。最后通过几个例子来说明理论结果的有效性和实用性。并且我们增加了一个对比实验来突出本文设计方法的优势。