Abstract
In this paper, we study the robust event-triggered cooperative output regulation problem of heterogeneous linear multi-agent systems with system uncertainties and directed communication topologies. To deal with the heterogeneity problem, a so-called internal reference model is proposed for each agent, and the system uncertainties can be handled by utilizing the internal model principle. Then, a novel distributed event-triggered control scheme is developed. Furthermore, with the proposed control scheme, Zeno behavior can be excluded for each agent by introducing a strictly positive timer. An example is finally provided to demonstrate the effectiveness of the control scheme.
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