Cooperative global robust practical output regulation of nonlinear lower triangular multiagent systems via event-triggered control

In this article, the problem of cooperative global robust practical output regulation is examined for uncertain nonlinear multiagent systems in a lower triangular form via event-triggered control. The problem is dealt with in three steps. At the first step, a decentralized internal model is constructed based on the lower triangular form such that the regulation issue is translated to a stabilization one. Next, a nonlinear decentralized state-feedback controller is designed to achieve input-to-state stabilization with the sampling error as the input. In the third step, a simple event-triggering mechanism is embedded in the controller to achieve an event-based controller redesign. An illustrative example is presented to verify the theoretical results.