Distributed Event-Triggered Output Consensus for General Linear Heterogeneous Multi-Agent Systems With System Uncertainties

This paper is devoted to study the distributed event-triggered output consensus (ETOC) of heterogeneous multi-agent systems (MASs) with general linear dynamics subject to system uncertainties over digraphs. To account for the practical case where accurate system model cannot be obtained in advance, an event-triggered output consensus control method is studied based on the internal model principle such that the output consensus error approaches to a small adjustable bounded set related to the mismatch level between accurate and inaccurate model in a distributed way. To improve the triggering performance, a novel resilient state-independent threshold is introduced in the state-dependent threshold, which endows the piecewise continuous mixed threshold a feature of reset to a greater value when an event is triggered. Within the proposed ETOC method, the circumvent of continuous neighbouring state exchange is ensured. Consensus stability and Zeno phenomenon are analyzed to ensure the theoretical correctness of the proposed ETOC method. Numerical simulations are carried out.