Event triggering Consensus for Second order Leader following Multiagent Systems with Nonlinear Time delayed Dynamics
This work focuses on the leader following consensus problem for networks of dynamic agents, each of which has second order nonlinear time delayed dynamics. Event triggered control and pinning control strategies are used in view of energy conservation. For each agent, the controller updates only when a properly presented event triggering condition is satisfied, which is based on the measurement errors and an exponential term. The network communication topology contains a directed spanning tree and only a fraction of follower agents can obtain the leader agent's information. By virtue of the Lyapunov Krasovskii functional method, the M matrix theory and some algebraic inequalities, a sufficient condition for achieving leader following consensus is established. The Zeno behavior of triggered time sequence is excluded whether the consensus is reached or not. Finally, a simulation example is provided to demonstrate the proposed theoretical results.