Event-Triggered Consensus of Linear Multi-agent Systems with Input Time Delay

This paper is concerned with the event-triggered consensus problem of linear multi-agent systems, with both the directed network topology and the input time delay being simultaneously considered. It is shown that the proposed event-triggered controllers will make multi-agent systems achieve consensus asymptotically, meanwhile existence of a positive constant lower bound in the inter-event time interval is also proved, implying that the Zeno behavior is strictly excluded. Finally, an illustrative example is presented to show the applicability of the obtained results.