Event-triggered cooperative control with general linear dynamics and communication delays

The consensus problem with general linear dynamics and communication delays is investigated. An event-triggered consensus protocol is proposed, where each agent implements a model of the decoupled dynamics of its neighbors. This approach not only avoids the need for continuous communication between agents but also provides a decentralized and asynchronous method for transmission of information in the presence of time-varying communication delays. This method gives more flexibility for scheduling information broadcasting compared to periodic and sampled-data implementations. Lower-bounds on the inter-event times are computed and shown to be positive in order to avoid Zeno behavior.