An Event-Triggered Control Approach to Cooperative Output Regulation of Heterogeneous Multi-Agent Systems*

This paper presents a novel distributed event-triggered control approach to cooperative output regulation of heterogeneous multi-agent systems. First, we propose a basic event-triggered control scheme. Next, building on this result, we propose a distributed self-triggered control scheme, such that continuous monitoring of measurement errors can be avoided. With these proposed control schemes, Zeno behavior can be excluded for each agent by introducing a fixed timer in the triggering mechanism. An example is finally provided to demonstrate the effectiveness of the proposed control schemes.