Periodic event-triggered consensus of multi-agent systems under directed topology

The event-triggered consensus problems of multi-agent systems without and with time delay under directed topology are investigated, respectively. The event-checkings are only implemented at periodic time instants. Under the designed consensus algorithm, the sampling period is permitted to be arbitrarily large. Another advantage of the designed consensus algorithm is that, for systems with time delay, consensus can be achieved for any finite delay only with the requirement that it is bounded by the sampling period. The case of strongly connected topology is first investigated. Then, the result is extended to the most general topology which only needs to contain a spanning tree. A novel method based on positive series is introduced to analyze the convergence of the closed-loop systems. A numerical example is provided to illustrate the effectiveness of the obtained theoretical results. (C) 2019 Elsevier B.V. All rights reserved.