Event-based network consensus with communication delays

In this paper, the consensus problem with communication delays is studied under event-triggered protocols. We propose two novel event-triggered sampled-data transmission strategies (asynchronous and synchronous), where only local and event-triggering states are utilized to update the broadcasting state of each agent. Under the circumstance of limited information exchanging and distributed communication delays, it is strictly proved that the proposed protocols can realize consensus. Furthermore, a self-triggered consensus algorithm is proposed in which a set of iterative procedures are given to compute the event-triggered instants. Interestingly, the final consensus value is theoretically obtained even in the presence of event-based communication and distinct finite delays. Finally, the effectiveness of the theoretical results is demonstrated by numerical example.