Cooperative Output Regulation of Discrete-time Linear Multi-Agent Systems with Event-Triggered Adaptive Distributed Observer

In this paper, the event-triggered adaptive distributed observer is applied to solve the problem of cooperative output regulation for discrte-time linear multi-agent systems. Firstly, we propose two distributed event-triggered strategies, one is relative threshold event-triggered strategy, the other is switching threshold event-triggered strategy. Then we apply these two event-triggered strategies to an adaptive distributed observer, which does not need each follower to know the leader’s matrix information, so it can be fully distributed. Finally, the effectiveness of the method is illustrated by digital simulation.