Event-Triggered Output Consensus of Heterogeneous Linear Multi-Agent Systems with Immeasurable Disturbances

In this paper, we consider the output consensus problem of linear multi-agent systems subject to different agent dynamics by utilizing event-triggered control strategies. Both the dynamics and output of the agents are affected by nonidentical disturbances, which are not measurable. The proposed event-triggered control scheme has a desirable feature that each individual agent independently decides when to communicate with its neighbors while a positive minimum inter-event interval is guaranteed. By using the self-triggered strategy, we further solve the continuous monitoring problem usually existed with the event-triggered strategies. The effectiveness of the results is demonstrated by an example.