Event-triggered consensus of multi-agent systems with nonlinear dynamics and communication delay

This paper investigates the leader-following consensus of multi-agent systems with non-linear inherent dynamics and time delays via event-triggered control and pinning control methods. The communication topology among the agents is characterized by a directed graph containing a spanning tree with the leader agent as the root. Based on measurement errors and an exponential decay function, we propose a novel event triggering rule which can not only avoid the continuous communication, but also exclude the Zeno-behavior. Moreover, each agent is required to be triggered only at its own triggering time instants. By using the properties of M-matrix and Lyapunov-Krasovskii functional method, we derive some sufficient leader-following consensus criteria in forms of LMI5. An example is presented to show the effectiveness of the theoretical results obtained in this paper. (C) 2019 Published by Elsevier B.V.