Event-Based Leader-following Consensus of Multi-Agent Systems with Input Time Delay

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The event-based control strategy is an effective methodology for tackling the distributed control of multi-agent systems with limited on-board resources. This technical note focuses on event-based leader-following consensus for multi-agent systems described by general linear models and subject to input time delay between controller and actuator. For each agent, the controller updates are event-based and only triggered at its own event times. A necessary condition and two sufficient conditions on leader-following consensus are presented, respectively. It is shown that continuous communication between neighboring agents can be avoided and the Zeno-behavior of triggering time sequences is excluded. A numerical example is presented to illustrate the effectiveness of the obtained theoretical results.

Original languageEnglish (US)
Article number6897941
Pages (from-to)1362-1367
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number5
StatePublished - May 1 2015


  • Event-based control
  • input time delay
  • leader-following consensus

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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