Event-triggered H?, output consensus of heterogeneous linear multi-agent systems

Authors：Hao, Yahui; Liu, Lu^*

Source：JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2022, 359(16): 9056-9078.

DOI：10.1016/j.jfranklin.2022.08.047

• Event-triggered control protocol
• H?
• output consensus
• Heterogeneous
• Multi-agent systems
• Leader-following

This paper addresses the leader-following Hoc, output consensus problem of heterogeneous linear multi-agent systems (MASs) under directed graphs. Both state feedback and output feedback based event-triggered control (ETC) protocols are developed. First, to avoid continuous communication between neighboring agents, the open-loop estimation method is used in the proposed ETC protocols. Second, a unified time-and event-triggering mechanism with an explicit minimum inter-event time (MIET) is further developed based on the open-loop estimation method so that Zeno behavior can be excluded. It is shown that under the proposed ETC protocols, the controlled MAS can achieve Hoc, output consensus. Finally, two numerical examples are provided to verify effectiveness of the proposed ETC protocols.