Dynamic Event-Triggered Consensus of Linear Multi-Agent Systems with Time-Varying Delay

This paper focuses on the problem of achieving dynamic event-triggered consensus control in multi-agent systems (MASs) operating under time-varying communication delays. A dynamic event-triggered mechanism (ETM) is designed with an adaptive threshold adjustment strategy, enabling selective data transmission. Unlike most existing works, a more generalized delay model is adopted, covering delay-free, constant delays, and bounded time-varying cases. The asymptotic consensus property of the system is proven via a Lyapunov functional combined with some inequalities. Finally, the effectiveness of the proposed method is validated through a numerical simulation and comparison with existing approach.