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In this paper, the event-triggered consensus problem of multiagent systems with input time delay is investigated. First, the normal event-triggered control scheme containing the input time delay is introduced to reduce the number of communication. Then the following results are achieved: 1) the procedure of setting parameters is carefully formulated for the event-triggered control scheme; 2) the precise input time delay margin is calculated for the event-triggered consensus of the multiagent systems; 3) a more general condition of constructing event-triggered functions is derived to exclude the Zeno behavior; 4) the self-triggered control scheme is further applied to avoid the continuous measurement; and 5) the observer-based control scheme is also utilized to tackle the problem of unmeasurable state. Finally, the correctness and the effectiveness of these results are demonstrated by numerical simulations.

The problem of leader-following consensus in secondorder multiagent systems is investigated in this brief, where the data are sampled randomly within a certain known bound and the data transmission is driven by an event-triggered control protocol. A distributed event-triggered control protocol is designed, in which the Zeno behavior is naturally excluded by the strictly positive sampling intervals and the data transmission is largely reduced. Under the proposed protocol, the sufficient condition is derived for assuring the consensus, which declares that the consensus can be achieved if the control gains and the sampling intervals are reasonable. Some numerical examples are provided to demonstrate the effectiveness of the proposed protocol.

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