Distributed Event-Based Consensus Control for an Asynchronous Multi-Agent System with Sensor Measurement Delays, Event-detecting Delays and Communication Delays
Bingxian Mu, May-Win L. Thein · 2021
In this paper, we study an event-triggered consensus problem for a distributed first-order multi-agent system (MAS) considering three types of time delays. Each agent periodically and asynchronously samples its state with sensor measurement delays and calculates the integral-type triggering condition with event-detecting delays. The agent determines to sample its state again and to broadcast the data to neighbors if the triggering condition is satisfied, and controllers of the agent and its neighbors are updated with networked communication delays. We provide a sufficient condition for guaranteeing the average consensus for the MAS, and stability analysis is conducted by using Lyapunov approach. Numerical example is given to verify the effectiveness of the proposed control method.