Dynamic Event-triggered Control for Leader-following Consensus of Multi-agent Systems in Input Time Delay and Random Packet Loss Networks

In this paper, the leader-following consensus of linear multi-agent systems (MASs) in input time delay and random packet loss networks is investigated. To realize leader-following tracking, a novel distributive input control protocol is proposed. In this input protocol, Bernoulli stochastic variables are given to characterize random packet loss, which occurs asynchronously between the controllers and actuators within agents. Then, a dynamic event-triggered mechanism is designed to avoid continuous communication, in which internal dynamic variables are employed to decrease the number of triggers and exclude the Zeno phenomenon. In addition, by utilizing the graph algebra, stability analysis and linear matrix inequality (LMI) approach, some sufficient conditions are obtained for the consensus of this MASs. Finally, the effectiveness of our approach is illustrated by simulation examples.