Event-triggered Output Regulation for Linear Multi-agent Systems

In this paper, we continue considering the distributed output regulation problem which mainly concerns the asymptotically tracking an active leader, and/or distributed disturbance rejection. Here we focus on the distributed output regulation with event driven strategies of multi-agent systems. The event driven control actuation updating depends on a trigger function with respect to a specified measurement error threshold. We consider both static and dynamic distributed feedback controllers with different trigger functions. Solvability conditions are proposed. Moreover, a systematic design approach is proposed to handle the event-triggered output regulation via dynamic state feedback with the help of internal model.