Dynamic Event-Triggered Consensus Control for Leader-Following Multiagent Systems With Communication Delay

This brief considers the dynamic event-triggered consensus control design of leader-following multiagent systems (MASs) under communication delay. Static event-triggered mechanism is often used, but its energy saving is limited. The dynamic event-triggered mechanism based on sampled data can obtain fewer trigger times than static event-triggered mechanism by adding a dynamic variable, which means that energy is saved to a greater extent and Zeno behaviors can be excluded obviously. Different from the existing works, this brief considers time-varying communication delay between agents. A periodic switching controller is used to deal with delay. Besides, the Lyapunov-Krasovskii function is applied to prove the stability of the closed-loop system and linear matrix inequality plays an important role in this process. Finally, simulation results illustrate the availability of the proposed controller.