External Consensus Protocol of Networked Multiagent Systems With Communication Delays Under Event-Triggered Mechanisms

Abstract

In this paper, the external consensus problem is discussed for networked multiagent systems with communication delays under an event-triggered mechanism. The communication topology among agents is characterized by an undirected and connected graph, and there exist network-induced delays during data transmissions. Based on recursive equations, a prediction strategy is proposed to actively compensate for the effects of network-induced delays. Then, an event-triggered mechanism is introduced to avoid continuous control updates and continuous communication among agents. According to the above prediction strategy and event-triggered mechanism, a distributed external consensus control protocol is proposed, by which system stability is ensured and the external consensus can be achieved. Finally, numerical simulation is made to illustrate the validity of the proposed protocol.