Fully distributed event-triggered output synchronization of heterogeneous multi-agent systems over directed switching networks

This paper investigates the event-triggered output synchronization of the heterogeneous linear multiagent systems over directed switching networks. We first propose an internal model of the leader to track the state of the leader using intermittent communications without inducing Zeno behavior. With the computational algorithm proposed for continuously generating the combinational state demanded in the triggering condition, the internal model is implemented in a fully distributed manner. Then, a distributed event-triggered controller is constructed using the internal model to ensure that the output synchronization errors are globally exponentially convergent to a ball. A numerical example is presented to illustrate the efficacy of the theoretical results. (C) 2022 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.