A Fully Distributed Event-Triggered Output Feedback Control for Consensus of Linear Multi-Agent Systems Under a Directed Graph

In this paper, the consensus problem of linear multi-agent systems (MASs) is investigated via a fully distributed adaptive event-triggered control (ETC) strategy, where the external disturbances are taken into consideration and the communication topology is directed. We propose a distributed event-triggered output feedback control strategy for each agent to drive all agents to consensus in an event-triggered fashion. By introducing the adaptive gain scheduling, the global information requirements in existing results, such as the eigenvalues of Laplacian matrix or the number of agents, are no longer needed. Besides, the considered communication topology is a directed graph containing a spanning tree with the exosystem as the root node, which includes the undirected graphs as special cases. Furthermore, by taking external disturbances into consideration, the consensus problem is solved robustly in which the consensus error is uniformly ultimately bounded (UUB) with a small range near the origin. Finally, the Zeno behavior is strictly ruled out with theoretical analysis. The effectiveness of the proposed fully distributed ETC strategy is confirmed by a numerical example.