  This paper proposes a distributed scheme with different estimators for the
event-triggered formation control of polytopic homogeneously scheduled linear
parameter-varying (LPV) multi-agent systems (MAS). Each agent consists of a
time-triggered inner feedback loop and a larger event-triggered outer feedback
loop to track a formation reference signal and reject input and output noise.
If a local event-trigger condition is violated, the event-triggered outer
feedback loop is closed through the communication network. The event-trigger
condition is only based on locally available information. To design the
controller, a synthesis problem is formulated as a linear matrix inequality of
the size of a single agent under the assumption, that local estimators trigger
intercommunication events with neighboring agents if the event-trigger
condition is violated. The design procedure guarantees stability and bounded
l2-performance. Furthermore, the estimators are interchangeable for a given
controller. We compare in simulation zero-order hold, open-loop estimation, and
closed-loop estimation strategies. Simulation trials are carried out with
non-holonomic dynamic unicycles modeled as polytopic LPV systems.
