Fully distributed event-triggered cooperative output regulation for switched multi-agent systems with combined switching mechanism

The cooperative output regulation for switched heterogeneous multi-agent systems under aperiodic triggering and combined switching tactics is studied in this article. Since the global information of Laplacian matrix is not available in design, the fully distributed event-triggered protocol including integral-type term is implemented under directed topology that contain a spanning tree. Based on the relative estimator state between neighbors at triggering instants, the time-varying coupled weight of each agent is used to compensate the global information via designing the adaptive laws. Meanwhile, the integral-type term in event-triggering condition can further enlarge the inter-event times and avoid Zeno behavior. To reduce the switching frequency, the combined switching rules constituted by the dwell time and agent-dependent switching strategies are then established based on time-varying multiple Lyapunov functions. Further, the cooperative output regulation performance for switched multi-agent systems is achieved through the joint action of the combined switching laws and controller. Finally, two examples are used to clearly verify the effectiveness of results.