Output consensus of heterogeneous linear multi-agent systems by event-triggered control

This paper studies the output consensus problem of heterogeneous multi-agent systems with linear dynamics. The procedure of designing a novel distributed event-triggered control scheme is proposed. By utilizing the internal model principle, event-triggered strategy and some inequality techniques, it can be shown that the output consensus of the heterogeneous linear multi-agent systems can be achieved. Furthermore, the feasibility of the proposed control scheme is discussed by excluding Zeno behavior. A numerical example is given to verify the effectiveness of the result.