Event-triggered consensus control with dynamic agents and communication delays in heterogeneous multi-agent systems

This paper investigates the consensus problem in discrete multi-agent systems characterized by both first-order and second-order agent dynamics, addressing the challenges posed by input delays and disturbances. To optimize data exchange and information sharing, an innovative event-triggered control system with communication delays is developed for the consensus control strategy. The materials employed in this study include a diverse set of heterogeneous agents designed to mirror real-world dynamics and delay characteristics. The methods involve the formulation of the consensus condition using Linear Matrix Inequalities (LMIs) and Kronecker product techniques, complemented by Lyapunov functional approaches for rigorous system stability analysis. The uniquely distributed control mechanism relies solely on local neighbor communication, enhancing its practical applicability. The theoretical framework is validated through comprehensive simulations, demonstrating its robustness and effectiveness in achieving consensus among agents under the specified dynamic conditions.