Distributed Dynamic Event-Triggered Output Tracking for Heterogeneous Multi-agent Systems with An Input-Bounded Leader

Considering heterogeneous general linear multiagent systems with an input-bounded leader, the focuses on the event-triggered output tracking problem is studied in this paper. The leader considered here has a nonzero and time-varying control input that is unavailable to any followers. In order to achieve output tracking, a hierarchical framework including a homogeneous internal model layer and a heterogeneous follower layer is adopted by using the internal model principle. Based on this treatment, a distributed control protocol based on dynamic triggering mechanism is further proposed to guarantee the asymptotic output tracking ability of followers to the leader with reducing communication overheads. An internal dynamic variable is involved in the proposed dynamic triggering law to construct a dynamic triggering threshold, which not only prolongs the inter-event intervals in theoretical analysis but also benefits the guarantee of the absence of Zeno behavior in applications. Additionally, the actions on triggering detections and controller updates are performed without the requirement on continuous state transmission, which not only captures the communication energy-saving feature of event-triggered control approaches but also offers more feasibilities.