LAUSR

In this note, the cooperative output regulation problem is considered for a kind of heterogeneous linear multi-agent systems under undirected communication topological graphs. Our approach consists of two techniques, the design of distributed dynamic observer for exosystem under the event-triggered and self-triggered control mechanisms. Firstly, a distributed event-triggered control protocol is designed, which proves that multi-agent system can achieve stability and Zeno behavior is excluded under this protocol. Secondly, a self-triggered control protocol is designed to achieve the cooperative output regulation problem of heterogeneous multi-agent system. Moreover, by designing parameter in the self-triggered mechanism, the Zeno behavior does not exist. Finally, the theoretical results are verified by a simulation of output regulation problem under two triggered mechanisms.