Observer-Based Leader-Following Consensus of General Linear Multiagent Systems Based on Novel Event Trigger Mechanism with Input Time Delay under Directed Graphs

Abstract

This paper considers the tracking and containment consensus for the general linear systems with input time delays under directed communication networks. The distributed observer-based algorithm on the basis of event-triggering mechanism will be designed by using only neighboring agents information. In this way, we can save network resource effectively. The event-based protocol with input time delays will be proposed for the leader-follower systems. Appropriate feedback gain matrices and trigger parameters can be designed by using Lyapunov stability theory. Based on the designed control algorithm, if the feedback gain matrices and the event trigger are designed appropriately, the leader-follower general linear system can eventually reach tracking and containment consensus. Then, two simulation results are provided to demonstrate the practicability of the theoretical analysis.