Practical scaled consensus for nonlinear multiagent systems with input time delay via a new distributed integral-type event-triggered scheme

This paper studies scaled-based practical consensus issue for multiagent systems with input time delay by a fully continuous communication-free integral-type event-triggered scheme. By choosing the proper scales, scaled consensus can be induced to synchronization, bipartite consensus or cluster consensus. By defining a continuous communication-free measurement error for the integral-type event-triggered mechanism, the new integral-type event-triggered condition is proposed which can not only reduce the energy consumption but also prolong the interevent time. Then, with time domain analysis method, the distributed integral-type event-triggered control problem for nonlinear general multiagent systems involving input time delay is investigated and then the second-order counterpart, with a calculated upper-bound for time-delay. Moreover, it is concluded that with such event-triggered protocols, practical scaled consensus can be achieved without the exhibition of Zeno behavior. At last, simulations are shown to support the results.