Output Consensus of Heterogeneous Linear Multi-Agent Systems via Fully Distributed Event-Triggered Protocols

This paper considers the distributed output consensus problem of heterogeneous linear multi-agent networks with event-triggered communications. To handle the heterogeneity existing in the network, we first design adaptive event-based dynamic compensators for the agents. Distributed output feedback protocols, consisting of the dynamic compensators and the distributed state observers, the local controllers, and the triggering functions, are then designed to ensure that output consensus is achieved. Compared to the previous related works, our main contribution is that we design a fully distributed and scalable adaptive event-based protocol, whose design does not rely on any global information of the network graph and is independent of the network's scale. Continuous communications are not required for either control laws updating or triggering functions monitoring.