Event-Triggered Consensus Seeking of Heterogeneous First-Order Agents With Input Delay.

Event-triggered consensus problem is studied for a class of heterogeneous first-order multi-agent system, which contains multiple single integrators with different nominal velocities, and an adaptive consensus algorithm in the leader-following structure is adopted. Under the event-triggered mechanism, the agents' inputs are only updated at discrete times determined by a centralized event-triggered function. By constructing proper Lyapunov function, sufficient consensus conditions are gained for the asymptotic consensus convergence. Furthermore, the consensus problem subject to identical input delay is considered, and consensus conditions in the form of linear matrix inequalities are obtained. Numerical simulations show the effectiveness of the event-triggered consensus control strategy.