Output-based event-triggered consensus of general linear multi-agent systems with communication delay under directed graphs

Abstract

This paper studies the output-based event-triggered consensus problem of general linear multi-agent systems with communication delay under directed communication graphs. The influence of time delay on performance of multi-agent systems is investigated : the stability margin of time delay is explicitly calculated to measure the capability of proposed control algorithm to tolerate the time delay. By the designed output-based event-triggered mechanism, both communication among agents and update of controller are intermittent without Zeno behavior. Consequently, this control mechanism prolongs the lifespan of multi-agent systems in the sense that it saves intensive resource for communication and update of controller. Finally, numerical simulations are given to demonstrate the correctness of results in this paper.