This paper studies an event-triggered distributed optimal coordination problem for heterogeneous linear multi-agent systems with external disturbances. A new distributed optimal coordination algorithm based on event-triggered communication is proposed to deal with heterogeneous agents having a relative degree two. By utilizing the input-to-state stability guaranteed by the proposed algorithm, a novel distributed event-triggering condition is designed. It is showed that the robust distributed optimal coordination problem can be solved practically without Zeno behavior. Moreover, the relationship between the parameters in event-triggering conditions and the system performance is also studied. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results.

本文研究了带有外部干扰的异构线性多智能体系统的事件触发分布最优协调问题。提出了一种新的基于事件触发通信的分布式最优协调算法，用于处理相对度为二的异构智能体。利用所提算法保证的输入状态稳定性，设计了一种新颖的分布式事件触发条件。结果表明，在没有Zeno行为的情况下，鲁棒的分布式最优协调问题可以得到实际解决。此外，还研究了事件触发条件下的参数与系统性能之间的关系。最后，提供了数值模拟来说明理论结果的有效性。