Event-Based Leader-following Consensus of Multi-Agent Systems with Input Time Delay

• Published in: IEEE transactions on automatic control Vol. 60; no. 5; pp. 1362 - 1367
• Main Authors: Zhu, Wei, Jiang, Zhong-Ping
• Format: Journal Article
• Language: English
• Published: IEEE 01.05.2015
• Subjects: Closed loop systems; Delay effects; Educational institutions; Eigenvalues and eigenfunctions; Lead; Multi-agent systems; Topology; leader-following consensus; Event-based control; input time delay
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2014.2357131

The event-based control strategy is an effective methodology for tackling the distributed control of multi-agent systems with limited on-board resources. This technical note focuses on event-based leader-following consensus for multi-agent systems described by general linear models and subject to input time delay between controller and actuator. For each agent, the controller updates are event-based and only triggered at its own event times. A necessary condition and two sufficient conditions on leader-following consensus are presented, respectively. It is shown that continuous communication between neighboring agents can be avoided and the Zeno-behavior of triggering time sequences is excluded. A numerical example is presented to illustrate the effectiveness of the obtained theoretical results.