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Distributed output-based self-triggered control for general linear multi-agent systems

This paper addresses the consensus problem via output feedback for a multi-agent system under a distributed self-triggered control framework. A distributed observer-type protocol based on relative output measurements is proposed by incorporating the self-triggered control strategy, where each agent computes its next triggering time based on its local information at the last triggering time. Thus, there is no need to keep track of the measurement errors between two update instants. A simulation example is finally presented to verify the theoretical results.