This paper investigates the leader-following output consensus of heterogeneous multi-agent systems (MASs) with unknown and nonidentical control directions under switching topology. To save the communication resources, a distributed adaptive control protocol together with an event-triggered communication scheme is proposed to achieve the output consensus. A self-triggered communication strategy is further given to prevent the continuous monitoring of neighbors states. Moreover, we prove that the proposed event/self-triggered strategies are Zeno-free. The obtained results are successfully applied to design the output formation controller. Finally, the effectiveness of the proposed theoretical results is demonstrated by two numerical examples.

本文研究了在切换拓扑下具有未知和不相同控制方向的异构多主体系统（MAS）的前导跟随输出共识。为了节省通信资源，提出了分布式自适应控制协议以及事件触发的通信方案，以实现输出共识。进一步给出了自触发通信策略，以防止对邻居状态的连续监视。此外，我们证明了所提出的事件/自触发策略不包含Zeno。获得的结果已成功地应用于设计输出编队控制器。最后，通过两个数值例子证明了所提出的理论结果的有效性。