Event-triggered Output Consensus Control of the Disturbed Heterogeneous MASs with Sliding-mode Observer

The individual behavior and dynamics are core factors for the cooperation performance of multi-agent systems(MASs). In practical application, the perfect identical system is difficult to guarantee. Considering the individual differences in MASs, which is called as heterogeneous MASs, this paper studies the distributed output consensus problem with event-triggered scheme. Taking the external disturbance into consideration, a novel distributed sliding-mode output consensus control protocol is designed, which composed of a state-dependent event-triggered strategy and a sliding-mode observer. Under the developed strategy, the individual agents will achieve consensus with zero final consensus error. Moreover, the Zeno behavior is excluded and the fully intermittent communication among agents is realized, that is, the continuous information exchange among agents is neither required for the controller updating or triggering condition monitoring.