Output Feedback Control of Multi-Agent Systems Based on Dynamic Event-Triggering Mechanism

This paper aims to study the output feedback control for multi-agent systems under dynamic event-triggering mechanism. First, a new dynamic output feedback control law is developed by using the relative outputs between neighboring agents at triggering time instants. Compared with existing work, this control protocol does not require interaction between controllers. Second, a dynamic event-triggering mechanism is designed, which effectively reduces the amount of data transmission between agents. Events are mainly triggered during initial periods when the system has not achieved consensus, and each agent will not show Zeno behavior when intensive triggering is required. Finally, the effectiveness of the developed control protocol under dynamic event-triggering mechanism is verified by a numerical simulation.