Event-triggered consensus control for second-order multi-agent system subject to saturation and time delay

Abstract

The event-triggered consensus control for second-order multi-agent systems subject to actuator saturation and input time delay, is investigated in this paper. Based on the designed triggering function, a distributed event-triggered control strategy is presented to drive the system to achieve consensus. Communication energy can be saved as the agents send their state information only at infrequent event instants, the continuous communication among agents is not necessary. Lyapunov-Krasovskii functional is used together with linear matrix inequality technique to analyze the stability of the closed-loop error system. The results show that agents achieve exponentially consensus under the proposed controller. Furthermore, the bounds of solution are obtained by establishing the differential equation associated with the first delay interval. The initial domain is estimated by optimizing the linear matrix inequalities. Finally, simulation examples are presented to illustrate the effectiveness of the proposed controller.