Event-triggered bounded consensus for stochastic multi-agent systems with communication delay

This paper investigates a problem on event-triggered bounded consensus control for a stochastic multi-agent system with communication delay, process and measurement noises. First, according to Kalman filtering theory, the optimal state estimation of each agent is obtained and sent to its neighbour agents through the undirected network topology. Correspondingly, an event-triggered controller related to the communication delay is proposed to reduce update frequency of the controller effectively. Then, the feedback gain and triggering parameters are co-designed and solved through linear matrix inequality. Relational conclusions for bounded consensus in mean square are established for fixed and time-varying communication delays, respectively. Finally, the effectiveness of the presented results are illustrated through a simulation example.