Consensus Analysis of First-order Discrete-time Multi-agent Systems with Time Delay: An Event-based Approach

This paper considers the consensus problem of first-order discrete-time multi-agent systems with time delay by an event-based approach. The event-based controller is designed for each agent. A sufficient condition for achieving consensus is given under the assumption that the interconnection topology among agents has a directed spanning tree. Furthermore, the Zeno-like behavior for discrete-time multi-agent systems is defined and is excluded for the closed-loop system. Finally, a simulation example is given to illustrate the efficiency of the proposed control strategy.