An Event-Triggered Observer and Its Applications in Cooperative Control of Multiagent Systems

This article proposes an event-triggered control design for cooperative control of heterogeneous multiagent systems. The design is serial in nature and consists of the design of a distributed event-triggered observer for each follower agent that estimates the desired information of the leader system in the presence of parametric uncertainty and, based on this observer, the design of a distributed event-triggered controller. A salient feature of our observer design is that it obeys the separation principle in the sense that the event-triggered control can be designed after the observer has been designed. As a result, the observer is applicable to different follower agent dynamics and the event-triggered time sequence for the controller is asynchronous of that of the observer. We implement this design scheme on linear heterogeneous multiagent systems and uncertain Euler–Lagrange multiagent systems, and achieve results that significantly extend the existing ones.