Event-triggered output consensus control for the heterogeneous multi-agent systems under directed graph

This paper studies the event-triggered output consensus problem of heterogeneous multi-agent systems with general linear dynamics under an directed graph. With the state-dependent triggering function, we design a novel distributed event-triggered output consensus controller for each agent to reach consensus with zero final consensus error. This strategy has several distinguishing features, including the fact that individual agent does not require continuous, or even periodic, communication with their neighbors to update the controller or monitor the triggering condition, and all parameters required by its implementation can be locally determined by the agent. We also prove that events cannot be triggered infinitely in finite time (i.e. no Zeno behavior). Furthermore, the simulation examples are given to illustrate the theoretical analysis.