Event-triggered exponential output synchronization of heterogeneous multi-agent systems over directed switching networks
Yi Cheng, Valery Ugrinovskii · 2021 60th IEEE Conference on Decision and Control (CDC) · 2021
This paper considers event-triggered output synchronization of heterogeneous multi-agent systems over directed switching networks. We first propose an internal model for each follower using the event-triggered scheme to track the state of the leader using intermittent communications while avoiding Zeno behavior. The internal model is then embedded in the distributed controller to achieve output synchronization of the system of heterogeneous agents. We prove that the output synchronization errors converge exponentially to zero, and also give a bound on the convergence rate. A numerical example is presented to illustrate the theoretical results.