Distributed fixed-time event-triggered consensus of linear multi-agent systems with input delay

This article investigates the distributed fixed-time event-triggered consensus problem for linear multi-agent systems with input delay. The Artstein-Kwon-Pearson reduction approach is used to convert the delay-dependent system to a delay-free one. Based on the delay-free system, two distributed event-triggered protocols are designed based on local information exchange to address the leaderless consensus and the leader-follower consensus problems. In the proposed consensus protocols, both continuous controller updates and continuous communication as well as the Zeno behavior are successfully excluded. Detailed convergence analysis demonstrates that the closed-loop system is fixed-time stable regardless of the initial conditions. Finally, some simulation examples are provided to validate the theoretical results.