Event-Triggered Cooperative Output Regulation of Heterogeneous Multiagent Systems Under Switching Directed Topologies

In this article, the cooperative output regulation problem of heterogeneous linear multiagent systems under jointly connected digraphs is addressed. The event-triggered control protocols based on state feedback and output feedback are proposed, respectively. It is shown that the output tracking errors of the resulting closed-loop control systems converge to 0 exponentially via the proposed protocols. One of the key advantages of the proposed event-triggering mechanism is that the information transmissions induced by event triggerings and topology switchings are independent, and data transmissions among agents are thus reduced. Furthermore, an explicit minimum interevent time is provided for all the agents so that the Zeno-behavior is excluded strictly. Finally, three numerical examples are provided to verify the effectiveness of the proposed protocols.