Consensus of Multiagent Systems With Nonlinear Dynamics Using an Integrated Sampled-Data-Based Event-Triggered Communication Scheme

This paper is concerned with the problem of event-triggered consensus for a nonlinear multiagent system. First, an integrated sampled-data-based event-triggered communication scheme is presented to decide when the current sampled-data should be broadcast. This scheme takes full advantage of both absolute and relative error-based event-triggered transmission schemes, and thus leading to a high efficiency of data transmissions. Second, a state-error-dependent delay system is delicately developed to model the multiagent system under the proposed sampled-data-based event-triggered consensus protocol. By virtue of the Lyapunov-Krasovskii functional method, a stability criterion and sufficient conditions on the existence of the consensus protocol and transmission scheme are derived to ensure that the solution of the state error dependent delay system is uniformly ultimately bounded. Finally, two illustrative examples are employed to show the validity and advantage of the proposed transmission scheme and consensus protocol.