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Exponential Stability for Event-triggered Consensus Control of Heterogeneous Multi-Agent Systems

This paper deal with the event-triggered based consensus problem for heterogeneous multi-agent systems subject to communication delays. The consensus protocol is designed based on the two event-triggered schemes, one from the sensor to the controller and other from the controller to the actuator. Which can be further saved communication resources in multi-agent systems. Furthermore, under the proposed framework a new exponential stability criterion is derived which is proved by the Lyapunov function. The LMI (Linear Matrix Inequality) Toolbox in MATLAB is used to obtain the parameters. To illustrate the effectiveness of the proposed method a numerical example is given.