Event-Based Consensus Control for a Linear Directed Multiagent System With Time Delay

By utilizing the event-based control strategy, this brief deals with the consensus problem of a linear directed multiagent system with time delay. In order to avoid the continuous inter-agents communications and frequent controller updates, the control strategy is put forward with an event-triggered function consisting of the measurement error and a threshold based on the neighbors´ discrete states. Meanwhile, a time-varying offset is introduced in an event-triggered function with the purpose of excluding the potential Zeno behavior closed to consensus and relaxing the conservative theoretical threshold. Moreover, a sufficient condition is established for ensuring the consensus, and infinite triggers within a finite time are verified to be impossible. Some numerical examples are also provided to demonstrate the feasibility and effectiveness of our theoretical results.