Observer-Based Leader-Following Consensus of General Linear Multiagent Systems Based on Novel Event Trigger Mechanism with Input Time Delay under Directed Graphs

Abstract

This paper considers the tracking and containment consensus for the general linear systems with input time delays under directed communication networks. The distributed observer-based algorithm on the basis of event-triggering mechanism will be designed by using only neighboring agents information. In this way, we can save network resource effectively. The event-based protocol with input time delays will be proposed for the leader-follower systems. Appropriate feedback gain matrices and trigger parameters can be designed by using Lyapunov stability theory. Based on the designed control algorithm, if the feedback gain matrices and the event trigger are designed appropriately, the leader-follower general linear system can eventually reach tracking and containment consensus. Then, two simulation results are provided to demonstrate the practicability of the theoretical analysis.

Observer-Based Consensus of Nonlinear Multi-Agent Systems With Input Delay via Delay-Dependent Event-Triggered Control

“…Remark 3: From the proof process, especially (15), it can be concluded that Theorem draws the conclusion that the observers (5) can finally precisely track the agents' states via the protocol (6). This is what makes our work different from others.…”

“…Accordingly, the consensus is achieved by the protocol. Different from existing results such as [15], the trigger function in this article is based on observer errors, and parameters is design-able and adjustable. These features alleviate the use of computation resources and communication bandwidth.…”

“…Therefore, it is necessary to introduce the observer-based feedback controller. [14] and [15] contain the discussion and improvement of observer-based controllers and event-triggered mechanism. Inspired by these articles, the results in this article will be more suitable for handle the input delay problem of nonlinear MASs.…”

“…Remark 4: By analyzing some previous studies, it is found that most event-triggered control with input delay have focused on state-based distributed controller. In [15], a delay-dependent distributed event-triggered protocol with stated based controller is introduced. In [25], the self-triggered algorithm is also directly based on state information.…”