The distributed output consensus control of linear heterogeneous multi-agent systems based on event-triggered transmission mechanism under directed topology

Abstract

In this paper, the distributed output consensus control of linear heterogeneous multi-agent systems (LH_MASs) based on event-triggered transmission strategy under directed topology is addressed. Under the assumption that the state of each node is unmeasurable, the state observer is first designed. Then, in order to decrease the information interaction among agents, the event-triggered consensus protocol (ETCP) based on the designed state observer and dynamic compensator is proposed. Here, a novel triggering function is designed such that each agent does not need to monitor the states of its neighbors for event detection. In addition, on account of state-dependent threshold and time-dependent threshold, the combined threshold is presented to take both advantages into account at the same time. By selecting an appropriate Lyapunov function and regulation parameters, the output consensus of LH_MASs can be achieved and the Zeno behavior can be excluded. To avoid continuous monitoring of each agent’s state, we further propose the self-triggered consensus protocol (STCP). Furthermore, the novel event-triggered consensus protocol for mitigating external disturbances (ED_ETCP) is raised. Finally, several numerical examples are provided to illustrate the validity of the theoretical results.