The Adaptive Distributed Event-Triggered Observer Approach to Cooperative Output Regulation of Discrete-Time Linear Multi-Agent Systems Under Directed Switching Networks

In the paper, we solve the cooperative output regulation problem of discrete-time linear multi-agent systems under directed switching networks. Firstly, a new adaptive distributed event-triggered observer is proposed, which does not require each follower to know the leader matrix information. In addition, we propose relative threshold and novel switching threshold event-triggered strategy, which can be used in different situations according to their respective characteristics. Then, we solve the cooperative output regulation problem for discrete-time linear multi-agent systems under directed switching networks by both distributed state feedback and distributed dynamic output feedback control laws utilizing the adaptive distributed event-triggered observer. Finally, a corresponding numerical simulation on the discrete-time linear multi-agent systems is conducted, and the cooperative output regulation performance is verified.