In this article, the cooperative output regulation problem of heterogeneous linear multiagent systems under jointly connected digraphs is addressed. The event-triggered control protocols based on state feedback and output feedback are proposed, respectively. It is shown that the output tracking errors of the resulting closed-loop control systems converge to 0 exponentially via the proposed protocols. One of the key advantages of the proposed event-triggering mechanism is that the information transmissions induced by event triggerings and topology switchings are independent, and data transmissions among agents are thus reduced. Furthermore, an explicit minimum interevent time is provided for all the agents so that the Zeno-behavior is excluded strictly. Finally, three numerical examples are provided to verify the effectiveness of the proposed protocols.

中文翻译：

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切换定向拓扑下异构多智能体系统的事件触发协同输出调节

在本文中，解决了联合连接有向图下异构线性多智能体系统的协同输出调节问题。分别提出了基于状态反馈和输出反馈的事件触发控制协议。结果表明，所产生的闭环控制系统的输出跟踪误差通过所提出的协议呈指数收敛到 0。所提出的事件触发机制的主要优点之一是事件触发和拓扑切换引起的信息传输是独立的，因此减少了代理之间的数据传输。此外，为所有代理提供明确的最小干预时间，以便严格排除芝诺行为。最后，