Distributed event-triggered control for output synchronization of dynamical networks with non-identical nodes

This paper studies the output synchronization problem of a dynamical network with event-based communication, where each node communicates to its neighbours only when an event-triggering condition is fulfilled. The network has non-identical nodes driven by identical exosystems. In order to achieve asymptotic output synchronization as well as to prevent the occurrence of Zeno behaviour, estimators are introduced into each node to estimate the states of the exosystems of its neighbours and its own. Then, a distributed event-triggering rule is designed, which only depends on the information that the node obtains from its neighbours and the states of introduced estimators. Finally, a numerical example is given to show the effectiveness of the proposed control.