Cooperative Output Regulation of Heterogeneous Multi-Agent Systems With Adaptive Edge-Event-Triggered Strategies

This brief considers the distributed output regulation problem of multiple heterogeneous agents in the presence of an exosystem and constrained with limited communication bandwidth. To estimate the exosystem, we devise adaptive edge-based event-triggered dynamic observers for all followers. Then, we devise both distributed state feedback control inputs and output feedback inputs to guarantee that the regulated output asymptotically converges to zero. The presented protocols composed of distributed observers and local control inputs are completely distributed and can reduce the communication frequency.