Robust cooperative output regulation of heterogeneous uncertain linear multi-agent systems by intermittent communication

In this paper, we study the robust cooperative output regulation problem of heterogeneous linear multi-agent systems with system uncertainties and directed communication topology. A robust distributed event-triggered control scheme is proposed based on the internal model principle. To avoid continuous monitoring of measurement errors for the event-triggering condition, a novel self-triggered control scheme is further proposed. Moreover, by introducing a fixed timer in the triggering mechanisms, Zeno behavior can be excluded for each agent. An example is finally provided to demonstrate the effectiveness of the proposed self-triggered control scheme.