A fully distributed adaptive event-triggered control for output regulation of multi-agent systems with directed network

This paper considers the cooperative output regulation problem for heterogeneous linear multi-agent systems via an event-triggered control strategy for the directed graph. First, to cancel the requirement of continuous update of the control rule, a novel distributed event-triggered control protocol such that each agent can determine when to update the control rule asynchronously, where the Zeno behavior is strictly ruled out based on the contradiction. Later, to make the multi-agent systems more flexible, based on the adaptive control technology, the cooperative output regulation problem of heterogeneous linear multi-agent systems can be solved in a fully distributed manner, where the global information, such as the number of agents or the eigenvalues of Laplacian matrix, is no longer needed. Furthermore, the considered communication network is a more general directed network, in which the minimum communication channel of the directed network is halved compared with the undirected case. Finally, the effectiveness of the proposed control strategy is verified on a group of heterogeneous agents.