Event-triggered H_∞ output consensus of heterogeneous linear multi-agent systems

This paper addresses the leader-following H_∞ output consensus problem of heterogeneous linear multi-agent systems (MASs) under directed graphs. Both state feedback and output feedback based event-triggered control (ETC) protocols are developed. First, to avoid continuous communication between neighboring agents, the open-loop estimation method is used in the proposed ETC protocols. Second, a unified time- and event-triggering mechanism with an explicit minimum inter-event time (MIET) is further developed based on the open-loop estimation method so that Zeno behavior can be excluded. It is shown that under the proposed ETC protocols, the controlled MAS can achieve H_∞ output consensus. Finally, two numerical examples are provided to verify effectiveness of the proposed ETC protocols.