Event-triggered Control for Heterogeneous Discrete-time Multi-agent Systems Subject to Uncertainties and Noises

This paper investigates the event-triggered control problem of heterogeneous discrete-time multi-agent systems (MASs) subject to uncertainties and noises. Based upon the output regulation theory, a new distributed event-triggered control scheme is proposed to reduce communication burden and attenuate effects of stochastic noises. Two types of event-triggered control laws based on dynamic state feedback and dynamic output feedback are designed, respectively. Moreover, to compensate parameter uncertainties, a p-copy internal model is synthesized into the designed controllers. It is shown that all tracking errors are exponentially ultimately bounded in the mean square sense regardless of uncertainties and noises. Several examples are finally given to demonstrate the validity of main results.