Cooperative Global Robust Practical Output Regulation for Output Feedback Nonlinear Multi-Agent Systems by Distributed Event-Triggered Control

Abstract

In this paper, we study the event-triggered cooperative global robust practical output regulation problem for nonlinear multi-agent systems in output feedback with any relative degree. By establishing some new technical lemmas, and integrating the distributed internal model approach and the distributed hybrid observer approach, we recursively construct a distributed output-based event-triggered control law and a distributed output-based Zeno-free event-triggered mechanism to solve our problem.