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This paper investigates the distributed event-based consensus problem ofswitching networks satisfying the jointly connected condition. Both the stateconsensus of homogeneous linear networks and output consensus of heterogeneousnetworks are studied. Two kinds of event-based protocols based on local sampledinformation are designed, without the need to solve any matrix equation orinequality. Theoretical analysis indicates that the proposed event-basedprotocols guarantee the achievement of consensus and the exclusion of Zenobehaviors for jointly connected undirected switching graphs. These protocols,relying on no global knowledge of the network topology and independent ofswitching rules, can be devised and utilized in a completely distributedmanner. They are able to avoid continuous information exchanges for eithercontrollers' updating or triggering functions' monitoring, which ensures thefeasibility of the presented protocols.

Event-Triggered Consensus of Homogeneous and Heterogeneous Multi-Agent Systems with Jointly Connected Switching Topologies