Distributed integral-based event-triggered scheme for cooperative output regulation of switched multi-agent systems

This paper is concerned with the event-triggered cooperative output regulation problem of a switched linear multi-agent system. Firstly, a novel distributed integral-based event-triggered communication scheme, which only adopts discrete information of neighboring agents, is developed. The event-triggered scheme promises several advantages such as no continuous communication among the agents, the exclusion of Zeno behavior, and a significant reduction of triggered events. Secondly, an effective agent-dependent switching law, permitting all the switched subsystems of each agent are unstabilizable, is designed to guarantee the feasibility of cooperative output regulation for the switched multi-agent system. Finally, the effectiveness and merits of the proposed event-triggered cooperative output regulation method are validated through an illustrative example.