Periodic event-triggered consensus of time-delayed multi-agent systems under switching topologies

Abstract

The consensus problem of time-delayed multi-agent systems under switching topologies is investigated. Event-triggered consensus algorithms are proposed to reduce times of both network communication and control updates. Moreover, the judgements of events are based on periodic sampling data, which guarantees that the Zeno behavior which is often a challenge in event-triggered consensus investigation is automatically ruled out. It is shown that with appropriate choices of event-triggering parameters, sampling period, and time-delay, all the agents eventually reach the average of their initial sates if the system switches among a number of strongly connected and balanced topologies or connected ones.