Event-Triggered Random Delayed Impulsive Consensus of Multi-Agent Systems With Time-Varying Delay

In this study, the issue of consensus of multi-agent systems (MASs) with time-varying delays is studied using the event-triggered delayed impulsive control strategy. An impulsive controller protocol with random impulsive delay is designed for packet loss that sometimes occurs in multi-agent systems, and a Bernoulli sequence is used to indicate whether an impulse has a delay or not. Based on Lyapunov function and delayed impulsive control, sufficient conditions are given to achieve multi-agent systems consensus under continuous and periodic event triggered mechanism (ETM), respectively. For the continuous ETM, Zeno behavior is excluded and an upper bound on the impulsive control delay is derived. For periodic ETM, an upper bound on the sampling period is additionally given. In addition, useful propositions in Lemma form are given. Finally, numerical examples are used to demonstrate the strategy's success.