Decentralized event-triggered output consensus for heterogeneous multi-agent systems with general linear dynamics

In this paper, we study the event-triggered consensus problem for heterogeneous multi-agent systems with general linear dynamics under a general directed graph. As the states of each agent are unavailable, we propose a decentralized event-triggered consensus control strategy based on observer and internal model principle such that the outputs of all agents achieve consensus, without requiring continuous communication among the agents. The feasibility of the event-triggered strategy is further verified by the exclusion of Zeno behavior, that is, the event would not be triggered continuously. Finally, simulation is given to illustrate the theoretical analysis.