  This article deals with model- and data-based consensus control of
heterogenous leader-following multi-agent systems (MASs) under an
event-triggering transmission scheme. A dynamic periodic transmission protocol
is developed to significantly alleviate the transmission frequency and
computational burden, where the followers can interact locally with each other
approaching the dynamics of the leader. Capitalizing on a discrete-time
looped-functional, a model-based consensus condition for the closed-loop MASs
is derived in form of linear matrix inequalities (LMIs), as well as a design
method for obtaining the distributed controllers and event-triggering
parameters. Upon collecting noise-corrupted state-input measurements during
open-loop operation, a data-driven leader-following MAS representation is
presented, and employed to solve the data-driven consensus control problem
without requiring any knowledge of the agents' models. This result is then
extended to the case of guaranteeing an $\mathcal{H}_{\infty}$ performance. A
simulation example is finally given to corroborate the efficacy of the proposed
distributed event-triggering scheme in cutting off data transmissions and the
data-driven design method.
