A distributed event-triggered scheme for discrete-time multi-agent consensus with communication delays

This study mainly investigates the event-triggered data transmission in discrete-time multi-agent consensus problem with communication delays. A new distributed event-triggered scheme is proposed for the considered multi-agent network model. An action of the agent is triggered by an `event´ which is a well-defined condition on the system state. For the proposed event-triggered protocol, the authors prove that the multi-agent network will achieve consensus asymptotically. Numerical examples are provided to demonstrate the effectiveness of the obtained theoretical results.