Distributed event-triggered protocols with Kx-functional observer for leader-following multi-agent systems

This paper is concerned with the leader-following consensus problem of general linear multi-agent systems under directed topology graph. Compared with the most of the prior works, we assume that the state information is unknown for each following agent and only the relative output information between neighboring agents can be measured. Then, two new types of functional observer-based output feedback event-triggered protocols are designed, where the Kx-functional observer designed in this paper may have lower dimension than the full-order and reduced-order observer, which can ensure that leader-following consensus is achieved. Furthermore, the Zeno behavior is excluded by showing that the inter-event time between any two triggering events is lower bounded by a strictly positive value. Finally, a numerical simulation example is presented to demonstrate the effectiveness of the proposed control protocols.