Event-triggered Consensus Seeking under Non-uniform Time-Varying Delays

Abstract

In this paper, we study consensus seeking for a class of linear multi-agent systems (MAS) subject to the inevitable imperfections of packet-based networked communication. These imperfections include unknown non-uniform time-varying transmission delays and limited communication resources. To reduce the utilization of communication resources, we propose a dynamic event-triggered control scheme resulting in aperiodic transmission of information between agents. The proposed framework leads to event-triggered controllers that guarantee the MAS to asymptotically reach consensus, strictly positive lower bounds on the inter-event times and robustness for unknown non-uniform time-varying delays in terms of maximum allowable delays.