A Modified Dynamic Event-Triggered Mechanism for Output Consensus of Heterogeneous MASs

This article addresses the output consensus problem of heterogeneous multiagent systems (MASs) via a distributed modified dynamic event-triggered control design. First, a fully distributed asynchronous event-triggered compensator for each agent is proposed to act as a virtual reference generator without using global information. Second, based on this compensator, a distributed event-triggered controller for each heterogeneous agent is developed to reach output consensus. Specifically, to save resources and guarantee asymptotic consensus, a modified dynamic event-triggered mechanism (DETM) is proposed, in which a time-triggered mechanism (TTM) is introduced to ensure the existence of a positive minimum interevent time and a DETM is designed to further avoid redundant triggering actions. Besides, the triggering condition of the DETM does not require continuous detection, it is only detected when the timer variable in the TTM deceases from maximum value to zero. These features of the developed control scheme are presented analytically and verified numerically.