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This paper presents a data-driven control framework to solve the output synchronization problem in heterogeneous multi-agent systems with nonlinear dynamics. The proposed method explicitly compensates for the input actuation mismatch caused by event-triggered mechanisms, where deviations occur between the designed control signals and physical implementation. First, the state-space representations of both leader and follower systems are augmented, and a performance function is systematically designed. Subsequently, the optimal controller is derived with rigorous proof demonstrating system stability and asymptotic convergence of output synchronization errors to zero. Finally, the simulation results demonstrate the effectiveness of the proposed approach.

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Data-Driven Event-Triggered Robust Control for Model-Free Output Synchronization of Heterogeneous Multi-agent Systems

  • 会议论文

  • 发表日期：

    2026年

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  • Mengyang Zhao,
  • Deyuan Liu,
  • Haibo Gu,
  • Hao Liu

摘要

This paper presents a data-driven control framework to solve the output synchronization problem in heterogeneous multi-agent systems with nonlinear dynamics. The proposed method explicitly compensates for the input actuation mismatch caused by event-triggered mechanisms, where deviations occur between the designed control signals and physical implementation. First, the state-space representations of both leader and follower systems are augmented, and a performance function is systematically designed. Subsequently, the optimal controller is derived with rigorous proof demonstrating system stability and asymptotic convergence of output synchronization errors to zero. Finally, the simulation results demonstrate the effectiveness of the proposed approach.