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Event-Triggering Cooperative Output Regulation of Singular Linear Multi-Agent Systems with Zeno-Free Triggering

In this paper, cooperative output regulation problem of singular heterogeneous linear multi-agent systems with directed communication topology is studied. We design a triggering strategy that combines time-triggering and event-triggering so that Zeno behavior can be avoided completely. Compared with the existing literatures, the main characteristic of this paper is to apply the method of time- and event-triggering to singular multi-agent systems. The results show that the proposed triggering mechanism combined with the proposed distributed control law can solve the problem of cooperative output regulation. Finally, numerical simulation is given to show the effectiveness of the controller and the triggering mechanism.