Robust Event-Triggered Distributed Optimal Coordination of Heterogeneous Systems Over Directed Networks

In this paper, the robust distributed optimal coordination (DOC) problem over unbalanced directed communication networks is investigated for heterogeneous multi-agent systems subjected to external disturbances. First, by introducing an external disturbance observer, a balanced compensation variable and using the output regulation technique, a new robust continuoustime DOC algorithm is developed, ensuring that the sum of the local convex objective functions is optimal and the behaviors of all agents are coordinated. Then, a robust event-triggered DOC algorithm is designed, which consists of an event-triggered closedloop controller and an event-triggered balanced compensator. Compared with the existing distributed optimization algorithms, the algorithms of this paper solve the DOC problem over unbalanced directed communication network. The heterogeneous agent dynamics with external disturbances considered in this paper are in a general form. Further, the introduction of the event-triggering mechanism can avoid continuous information transmission and improve the efficiency of system resources utilization. Finally, numerical simulations are shown to demonstrate the effectiveness of the theoretical results.