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Event-triggering Consensus for Second-order Leader-following Multiagent Systems with Nonlinear Time-delayed Dynamics

Yangling Wang*, Jinde Cao, Haijun Wang, and Fuad E. Alsaadi
International Journal of Control, Automation, and Systems, vol. 18, no. 5, pp.1083-1093, 2020

Abstract : This work focuses on the leader-following consensus problem for networks of dynamic agents, each of which has second-order nonlinear time-delayed dynamics. Event-triggered control and pinning control strategies are used in view of energy conservation. For each agent, the controller updates only when a properly presented event triggering condition is satisfied, which is based on the measurement errors and an exponential term. The network communication topology contains a directed spanning tree and only a fraction of follower agents can obtain the leader agent’s information. By virtue of the Lyapunov-Krasovskii functional method, the M−matrix theory and some algebraic inequalities, a sufficient condition for achieving leader-following consensus is established. The Zeno-behavior of triggered time sequence is excluded whether the consensus is reached or not. Finally, a simulation example is provided to demonstrate the proposed theoretical results.

Keyword : Delayed nonlinear dynamics, event-triggered control, leader-following consensus, pinning control, second-order multi-agent systems.

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