Robust event-triggered cooperative output regulation of heterogeneous linear uncertain multi-agent systems

In this paper, we study the robust event-triggered cooperative output regulation problem of heterogeneous linear multi-agent systems with system uncertainties and directed communication topologies. To deal with the heterogeneity problem, a so-called internal reference model is proposed for each agent, and the system uncertainties can be handled by utilizing the internal model principle. Then, a novel distributed event triggered control scheme is developed. Furthermore, with the proposed control scheme, Zeno behavior can be excluded for each agent by introducing a strictly positive timer. An example is finally provided to demonstrate the effectiveness of the control scheme.