Distributed Event-Triggered Consensus of Multiagent Systems With Communication Delays: A Hybrid System Approach

This paper investigates the leader-following consensus problem for multiagent systems (MASs) with communication delays. A novel hybrid event-triggered control scheme is developed and a hybrid system approach is proposed to design the event-triggering condition. Meanwhile, by means of temporal regularization, a strictly positive lower bound on the interevent times can be guaranteed, that is, Zeno-freeness can be guaranteed. The MASs are first described as a closed-loop system with both flow dynamics and jump dynamics, where the jump dynamics is induced from the triggering events and communication delays. Then, a hybrid model of the MASs is constructed under a hybrid systems framework. Based on this hybrid model, how to construct the Lyapunov function is given and the event-triggering condition design is also developed, such that the asymptotic consensus is achieved. Finally, an example is provided to show the effectiveness of the proposed approach.