Dynamic Event-Triggered Leader–Follower Control for Multiagent Systems Subject to Input Time Delay
针对存在输入时延的多智能体系统，提出一种动态事件触发的领导者-跟随者控制方法，通过时变触发机制减少通信资源消耗，并保证状态同步的指数收敛速度。
The leader–follower dynamic event-triggered controller is proposed for multiagent systems (MASs) subject to input time delay under time-varying coupling control gain. To begin with, the Halanay inequality, which is referred to as a delayed differential inequality, is used to deal with the input time-delay leader–follower problem. Second, a time-varying event-triggered control protocol with a dynamic triggering mechanism is adopted to save the communication resources with the satisfaction of state synchronization among agents at an exponential convergence rate. Additionally, a novel dynamic triggering mechanism that does not require continuous communication information among agents is further generated with more trigger times than before. Both dynamic triggering mechanisms show better superiority in excluding Zeno behavior and saving communication resources due to the embedding of a positive dynamic parameter in the triggering mechanisms. Finally, a simulation example and the F16 aircraft systems are presented to demonstrate the availability of the theoretical results.