$H_\infty$ Consensus for Linear Heterogeneous Multiagent Systems Based on Event-Triggered Output Feedback Control Scheme

In this paper, the H∞consensus problem for linear heterogeneous multiagent systems (LHMAS) based on eventtriggered output feedback control is investigated. Two novel event-triggered control schemes including nonperiodic and periodic event-triggered control approaches are provided to make the LHMAS with external unknown disturbance achieve H∞consensus. Therein, the nonperiodic event-triggered control method is designed by combining the event-triggered approach with time-triggered scheme, which can make the sampled instants be decided by the event-triggered condition and provide a fixed lower bound of sampled interval to avoid the Zeno-behavior. Then, based on this approach, the periodic event-triggered control scheme has a further improvement that only the information at fixed periodic interval is used for the event-triggered condition, which means that this method avoids the continuous-time information transfer. Besides, both schemes take output feedback control, which means that only the output information of each agent and leader is needed in this paper. Finally, a numerical example is given to support our results.