Kybernetika 47 no. 4, 630-643, 2011

Distributed event-triggered tracking control of leader-follower multi-agent systems with communication delays

Jiangping Hu, Guanrong Chen and Han-Xiong Li


As embedded microprocessors are applied widerly to multi-agent systems, control scheduling and time-delay problems arose in the case of limited energy and computational ability. It has been shown that the event-triggered actuation strategy is an effective methodology for designing distributed control of multi-agent systems with limited computational resources. In this paper, a tracking control problem of leader-follower multi-agent systems with/without communication delays is formulated and a distributed dynamic tracking control is designed by employing event-triggered technique. Then, the input-to-state stability of the closed-loop multi-agent system with directed interconnections is analyzed. Finally, a numerical example is given to validate the proposed control.


leader-follower multi-agent system, event-triggered control, time-varying delay, directed topology


93A14, 93C10


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