Consensus of multiagent systems with time-varying delays: An observer-based distributed periodic event-triggered control approach

This work presents a consensus strategy for multiagent networked systems with time-varying delays. A new control technique is first developed, named observer-based distributed periodic event-triggered control. Aiming at leader-following consensus strategy, the state update of every follower agent just demands the neighbor state at the moment of its own event. Then, based on matrix inequalities, the sufficient criteria for the systems under consideration are established, which is easier to satisfy and shows that the consensus can be reached exponentially. Finally, one numerical example is presented to indicate the performance of the proposed method.