Event-triggered output synchronization of linear heterogeneous multi-agent systems via intermittent output communication

In this paper, we study an event-triggered output synchronization problem for linear heterogenous MASs under a network with a directed topology requiring only intermittent output communication. Based on a two-step design manner, we design a distributed control law together with a periodic event-triggered mechanism where the triggering condition is periodically monitored such that Zeno behavior is ruled out. We convert the resulted closed-loop system into a linear system with time-varying delay. Sufficient conditions are achieved for the stabilization of the time-delay system as well as the output synchronization of the linear MASs.