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

The distributed control for leader-following consensus problem of nonlinear multi-agent systems with input delay is investigated in this paper. Based on observer state information, an improved distributed truncated prediction control strategy is proposed in order to address the issue of input delay. Furthermore, a delay-dependent event-triggered control protocol is designed to alleviate the use of computation resources and communication bandwidth. Unlike the existing event-triggered protocol, the protocol in the article is delay-dependent and specially designed for systems with input delay. Moreover, the Zeno behavior does not occur. It should be pointed out that, our observer-based control is significant for practical applications where the state of agents cannot be directly obtained. Utilizing the Lyapunov-Krasoviskii function theory, the sufficient conditions of the consensus under above two control methods are obtained. Lastly, we illustrate the feasibility of our results by illustrative examples.