Consensus Control of Second-Order Multi-Agent Systems with Relative State Delay Based on Event Triggers

In this paper, the problem of consensus control for second-order multi-agent systems with relative state delay based on event triggers is studied. Considering the communication delay between agents in actual application, this paper introduces the concept of relative state delay and proposes a new event triggered consensus control for the system, so that all agents in the system can cooperate to move and achieve state consensus under the condition of relative state delay. The effectiveness of the proposed method is verified by mathematical analysis and simulation experiment. The results show that a positive relative state delay results in a velocity of final consensus of 0.