Abstract
In this brief, the event-triggered semi-global output consensus is investigated for discrete-time multi-agent systems subject to input saturation and external disturbances. Under the assumption that the dynamics of all nodes are identical, based on output regulation, a protocol view is proposed by using relative state information. On the basis of Lyapunov stability theory, sufficient conditions for output consensus are obtained. Finally, a simulation result is given to illustrate the theoretical findings.
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