  This paper investigates the robust cooperative output regulation problem for
a class of heterogeneous uncertain linear multi-agent systems with an unknown
exosystem via event-triggered control (ETC). By utilizing the internal model
approach and the adaptive control technique, a distributed adaptive internal
model is constructed for each agent. Then, based on this internal model, a
fully distributed ETC strategy composed of a distributed event-triggered
adaptive output feedback control law and a distributed dynamic event-triggering
mechanism is proposed, in which each agent updates its control input at its own
triggering time instants. It is shown that under the proposed ETC strategy, the
robust cooperative output regulation problem can be solved without requiring
either the global information associated with the communication topology or the
bounds of the uncertain or unknown parameters in each agent and the exosystem.
A numerical example is provided to illustrate the effectiveness of the proposed
control strategy.
