Keynote 1: Event triggered control for output consensus of heterogeneous linear multi agent systems

In this talk distributed even triggered control algorithms will be presented for output consensus of heterogeneous multi agent systems with general linear dynamics, with the objective to reduce the number of controller updates and communication exchanges. It is shown that the output consensus problem can be solved by the proposed event triggered control algorithms if a necessary and sufficient condition is satisfied. Then a self triggered control scheme is also developed, where continuous monitoring of measurement errors can be avoided. The feasibility of both proposed control schemes is discussed by excluding Zeno behavior. It is also shown that agents are able to achieve output consensus with significant reduction of the number of triggering events, controller updates and communication transmission. As a result, energy can be saved and the lifespan of the agents can be prolonged. A numerical example is given to illustrate the effectiveness of the proposed control schemes.