A Self-Triggered Impulsive Approach to Group Consensus of MASs With Sensing/Actuation Delays
提出自触发脉冲框架解决多智能体系统的群一致性问题，设计两种延迟脉冲控制方案，无需连续或周期性事件检测，节省通信和控制资源。
This article presents a self-triggered impulsive framework for group consensus of multiagent systems (MASs). Two types of self-triggered delayed impulsive control schemes are proposed to regulate impulsive protocols with sensing and actuation delays, respectively. Here, the Lyapunov-based and comparison-system-based approaches are constructed to achieve the iterative updates of impulse sequences with flexibility, especially the upper bound or average interval of impulsive periods is not restricted explicitly. In addition, several sufficient criteria for multigroup consensus of MASs with sensing and actuation delays are presented, where the correlation inequalities between trigger parameters, time delays, and control strengths are established to promote the co-design of impulsive controller and self-triggering algorithm. The Zeno behavior could be successfully eliminated. It is shown that the presented self-triggered schemes do not necessitate continuous or periodic event-detections and the interaction for neighboring agents works in an impulsive manner, which significantly saves the resource consumption of communication and control. Finally, two numerical examples illustrate the effectiveness of the proposed schemes.