Event-based cooperative global practical output regulation of multi-agent systems with nonlinear leader

• Autores: Youfeng Su, Liang Xu, Xinghu Wang, Dabo Xu
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 107, 2019, págs. 600-604
• Idioma: inglés
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• Resumen

  • This paper presents a distributed event-based high gain feedback design for the cooperative global practical output regulation problem of nonlinear multi-agent systems with unit relative degree subject to the general nonlinear leader system. We first convert global practical output regulation problem into global practical stabilization problem, then prove the input-to-state stability of the closed-loop system by regarding the sampling error and the steady-state of the actuator together as the external input. Based on the high gain feedback technique, the input-to-state gain function can be made sufficiently small, and hence the tracking error can converge to an arbitrary predefined small residual set around the origin. A distinguishing feature of our result is that, our controller is static and purely digital, thus, giving rise to quite a simple structure.