Output regulation of heterogeneous multi-agent systems via boundary-dependent intermittent event-triggered observer approach
Jian Gang Sun, Ruotong Wang, Jianxin Zhang, Lei Liu, Qihe Shan, Zhongxin Li · International Journal of Systems Science · 2025
In this paper, we investigate the cooperative output regulation problem by proposing a novel boundary-dependent intermittent event-triggered observer approach. The main feature is that it can judge whether the agents execute the communication protocol according to the current error states. In this communication mechanism, the non-negative real area is divided into three sub-regions through two boundary lines (safety boundary and intermittence boundary) to detect the error states, and a new intermittent mode is presented to arrange the communication period and non-communication period by the detected real-time error states. Based on this, the intermittent event-triggered controller is also designed, which ensures that the regulated output converges asymptotically to zero. Compared with the current time-dependent intermittent communication mechanisms, the proposed boundary-dependent mechanism can flexibly adapt to various situations according to the application needs, under which the multi-agent systems can tolerate more non-communication period and reduce the communication frequency. Finally, numerical simulations were performed to verify our results.