Event-triggered output consensus for heterogeneous multiagent systems with fixed and switching directed topologies

This paper studies the event-triggered output consensus problem of heterogeneous linear multiagent systems characterized via fixed and switching directed graphs. With proper state-dependent triggering functions, two new event-triggered output consensus control schemes are proposed for each agent to achieve consensus. Notably, under the proposed control protocols, continuous communication among agents is not required in both controllers updating and triggering threshold detection, which means being completely continuous communication free. The communication instances are reduced significantly, and the periodic or high-frequency communication is restrained. It is also ensured that events cannot be triggered infinitely in finite time (ie, the Zeno behavior is elegantly avoided). Meanwhile, the simulation examples are given to illustrate the theoretical analysis.