Event-triggered tracking consensus for multi-agent systems with time-varying delays

Event-triggered tracking control for multi-agent systems with time-varying delays is proposed in this paper. Time-varying delays and the event-triggered mechanism are considered at the same time. The event-triggered tracking consensus is proved through the Lyapunov-Krasovskii functional, and the Zeno behavior is excluded. Finally, a simulation result is given to verify the effectiveness of the proposed method.