Practical output regulation for nonlinear multiagent systems with event‐triggered control protocol under directed switching networks

In this paper, the event-triggered-based cooperative global robust practical output regulation problem is studied for nonlinear multiagent systems with directed switching networks. Firstly, the considered problem can be resolved with a prerequisite where the problem is solvable by an input-to-state stabilizing controller with measurement feedback. Specifically, the considered problem can be converted into a stabilization one for the so-called augmented system through the canonical internal model construction. Then by combining the multiple Lyapunov functions (MLF) with the average dwell time (ADT) method, it is demonstrated that this stabilization problem can be solved by output feedback with measurement disturbances, which indicates a solution to the initial problem. At last, a suitable event-triggering mechanism is proposed to save communication resources and reduce computational burden among all the agents. Finally, a group of FitzHugh-Nagumo multiagent systems is provided to verify our theoretical results.