Event-triggered consensus of non-linear multi-agent systems with sampling data and time delay

The sampled-data based event-triggered strategy for consensus of leader-following multi-agent systems with the input-delay and non-linear dynamics is studied. A novel event-triggered transmission strategy is proposed, where the controller of each agent updates and the sampled-data of each agent transmits to its neighbours' only at the agent's own triggering time instants. The measurement errors are defined based on the state information of the local neighbourhood and leader to design the event triggering scheme, and this scheme reduces the number of event triggering times, the controller updating and communications between agents. Moreover, in the proposed event triggered control strategy, the Zeno-behaviour is avoided. The control protocol and event triggering scheme can be simply designed by solving an LMI condition to achieve leaderfollowing consensus asymptotically. The effectiveness of the proposed results is demonstrated via a numerical example.