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We propose a distributed event-triggered control law to solve the consensusproblem for multi-agent systems with nonlinear output. Under the condition thatthe underlying digraph is strongly connected, we propose some sufficientconditions related to the nonlinear output function and initial states toguarantee that the event-triggered controller realizes consensus. Then theresults are extended to the case where the underlying directed graph contains adirected spanning tree. These theoretical results are illustrated by numericalsimulations.

Event-Triggered Control for Consensus of Multi-Agent Systems with Nonlinear Output and Directed Topologies