Event-Triggered Consensus of Multiagent Systems With Time-Varying Communication Delay

In this article, the consensus problem of linear multiagent systems (MASs) is investigated, where an event-triggered mechanism combined with sampler is introduced to rationally utilize the network bandwidth and the communication energy. Different from most existing results on the event-triggered consensus of MASs, a time-varying communication delay (CD) with a more general form is constructed in this article. With the help of a new class of Lyapunov functional and advanced inequalities, some novel criteria for achieving the asymptotic consensus of the considered MASs under different CD cases are obtained. For demonstrating the superiority of the proposed method from the conservatism and the practicability, a compared example and an application of spacecraft formation flying are proposed, respectively.