Leader-Following Consensus of Multiagent Systems with Non-Differentiable Time Delay via Event-Triggered Control

This paper investigates the consensus tracking problem of multiagent systems with non-differentiable delay. Unlike most of the existing works, the differentiability of the time-varying delay is removed and, thus, a wide range of delay patterns is possible. To begin with, the property of the useful differential inequality with non-differentiable delay is proved and some sufficient conditions are established to guarantee the exponential convergence of the multiagent systems. Then, an event-triggered control protocol with time-varying control gain is developed to achieve the tracking consensus, which covers many existing combinatorial control protocols and provides good flexibility in applications. Furthermore, the Zeno behavior can be avoided. Finally, a simulation example is provided to demonstrate the effectiveness of the theoretical results.