An Event-Based Interaction Sampled-Control for Consensus of Multi-Agents With Multiple Time-Varying Delays

An event-based consensus filtering control scheme for multi-agents with multiple mixing delays is proposed in the paper. Firstly, a piece-wise sampling model with transmission delay defined from sensors to controllers is built, and the effect of time-varying delay on sampling is analyzed. Secondly, a self-triggered scheme is proposed to take into consideration of reducing redundant data and complexity. Thirdly, to fully utilize the available information, by employing an improved generalized free-weighting matrix inequality, a novel Lyapunov-Krasovskii functional approach is proposed to achieve global asymptotically synchronization. At last, an example of multiple unmanned aerial vehicles is offered to show the effectiveness of proposed method.