Event-triggered consensus for delayed multi-agent systems based on non-uniform delay partition

This paper develops an event-triggered consensus for multi-agent systems (MASs) with time-varying delay. First, a dynamic event-triggered scheme with an internal dynamic variable is developed to effectively reduce communication. Then, a novel switched controller is designed based on the event-triggered state updates to address the asynchronous behavior induced by time-varying delay. Furthermore, by combining the non-uniform delay partition method with the proposed improved reciprocally convex inequality, the conservatism of MASs is reduced. Finally, the validity of the developed method is illustrated by simulations on robots under both fixed and switched network topologies.