Event-based consensus control for single-integrator networks with communication time delays.

In this paper, we use the event-triggered control method to investigate the average consensus problem in distributed multi-agent systems. The communication topology among agents is characterized by an undirected and connected graph and there exist time delays in data transition. Based on local information, we give an effective delay-robust event-triggered control strategy, in which periodic event detectors are used to monitor and verify event-triggering conditions. The event-triggering condition of each agent is specified by the agent׳s own state and neighbors׳ state information, which are obtained at their respective latest event instants before event-checking instants. If the event-triggering condition is satisfied, the associated agent samples its state and updates its controller. Each agent׳s state information used in its controller is updated only at its own event times and does not need to be updated at its neighbors׳ event times, which can reduce considerably unnecessary energy expenditure. Finally, the effectiveness of our result is shown by a simulation. [ABSTRACT FROM AUTHOR]