Abstract 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.

中文翻译：

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通过新的分布式积分型事件触发方案实现具有输入时间延迟的非线性多智能体系统的实用缩放共识

摘要 本文通过一种完全连续的无通信积分型事件触发方案，研究了具有输入时延的多智能体系统基于尺度的实际共识问题。通过选择合适的尺度，可以将尺度共识引入同步、二方共识或集群共识。通过为积分型事件触发机制定义连续无通信测量误差，提出了一种新的积分型事件触发条件，既可以降低能耗，又可以延长事件间的时间。然后，使用时域分析方法，研究了非线性一般多智能体系统的分布式积分型事件触发控制问题，包括输入时滞，然后是二阶对应问题，并计算了时滞的上限。而且，得出的结论是，通过这种事件触发的协议，可以在不表现 Zeno 行为的情况下实现实际的规模化共识。最后，仿真显示支持结果。