Event-triggered consensus control of multi-agent systems with nonuniform communication delays via reduced-order observers

This paper studies a consensus problem for linear multi-agent systems (MASs) over directed communication networks with nonuniform time-varying delays. To overcome the limited computing and storage resources, a distributed control scheme is designed for each agent by using the event-triggered strategy. At the same time, a reduced-order observer is put forward in the controller design when only the relative output measurement is available. The communication network model with nonuniform time-varying delays is more challenging than the fixed delays or non-delays in the literature. Theoretical analysis is provided to show that the proposed control scheme can guarantee the consensus of MASs, with Zeno-behavior excluded and the upper bound of time delay obtained. A numerical example is provided to illustrate the feasibility and effectiveness of the theoretical results.