Event-triggered leader-following formation control of general linear multi-agent systems with distributed infinite input time delays

By employing event-triggered control technique, this paper investigates the leaderfollowing formation control problem of general linear multi-agent systems with distributed infinite input time delays. To decrease computing costs, a novel event-triggered formation protocol taking into consideration of the distributed infinite time delays between agents is put forward. Under the designed triggering function and triggering condition, a sufficient condition on leader-following formation is obtained, and then the Zeno-behavior of triggering time sequences is excluded for the concerned closed-loop system. The continuous update of controller for each agent is avoided. Finally, the correctness and the effectiveness of these theoretical results are demonstrated by two numerical examples.