Output Synchronization of Linear Heterogeneous Multi-Agent Systems With Periodic Event-Triggered Output Communication

Abstract

This paper addresses an event-triggered output synchronization problem of linear heterogeneous multi-agent systems (MASs) under directed graphs, where only the outputs not the internal information of the agents are allowed to be transmitted in the network. The event-triggered output synchronization problem is divided into two subproblems, the event-triggered consensus problem of a group of reference systems and the sampled-data output regulation problem of the local agent viewing its reference system as the exosystem. Under the intermittent output communication, these two subproblems are coupled with each other and need to be solved concurrently. By an event-triggered control law with a periodic ETM, cyclic small gain conditions are derived to guarantee the event-triggered output synchronization of the linear heterogeneous MASs. Two simulation examples presented finally show the effectiveness of the theoretical results.