Fully Distributed Event-Triggered Observer-Based Leader-Follower Consensus Control for Heterogeneous Multi-Agent Systems
Xin Wang, Dongsheng Yang, Weihua Li, Zhanchao Ma · 2024
In this paper, the leader-follower output consensus problem for linear heterogeneous multi-agent systems (MASs) is considered. Firstly, in order for all followers to obtain the matrices and state of leader, the adaptive observer is designed for each follower. Considering that the actual system has limited resources to communicate, event-triggering mechanism is designed to realize discrete-time communication between neighbor agents. Secondly, the regulator equation is solved online, then, based on the solution of regulator equation and the designed observers, the new controller is designed to solve the leader-follower consensus problem. Finally, a simulation is given, and the results show the effectiveness of the designed method.