Cooperative output regulation of linear heterogeneous multi-agent systems based on the observer by event-triggered mechanism

This paper studies the problem of cooperative output regulation for heterogeneous linear multi-agent system by using event-triggered control mechanism. The controller is designed by constructing state observer and compensator for each agent. And it is proved that under the proposed distributed control protocol, the output regulation problem is solved and the Zeno phenomenon is excluded. Finally, a simulation result is given to show that regulation output errors tend to zero and there does not happen Zeno behavior for each agent.