Event-triggered consensus control for leader-following multi-agent systems with time-varying delays

In this paper, we perform the delay robustness analysis of an event-triggered consensus protocol for a leader-following multi-agent system with time-varying communication delays, and focus on designing the consensus protocol as well as event-triggering conditions in order that all followers can track the state of the leader at low communication/controller-updating costs. The leader has unidirectional communication connections to at least one follower. The local communication structure among followers is characterized by an undirected connected graph. It is shown that the maximum allowable time delay depends on the largest eigenvalue of the interaction graph Laplacian, event-checking period and one protocol parameter. The relationship between the maximum allowable time delay and the change rate of time delays is also characterized. Finally, numerical examples are given to demonstrate the effectiveness of the proposed consensus protocol.