An event-triggered-based external consensus control protocol with delay compensation for networked multiagent systems (NMASs) with nonlinear dynamics and network-induced delays is discussed in this paper. An RBF-ARX modelling method is adopted to approximate a nonlinear system. By utilizing the RBF-ARX model, the locally linearized time series model can be obtained to describe the behaviour of agents with nonlinear characteristics. An event-triggered control protocol with communication delay compensation is proposed to reduce the effects of network-induced delays and the times of the agent’s control update and communication between others by applying the idea of a prediction strategy. The event-triggered mechanism for each agent only depends on the deviation between its own output and the delay-compensated output of neighboring agents. Then, a distributed event-triggered-based and delay-compensated external consensus control protocol is given. Under this proposed control protocol, both the consensus and stability of the system can be proved. Finally, a numerical simulation is performed to verify the availability of our results.

中文翻译：

---

基于事件触发的带有非线性动力学和通信时延的基于RBF-ARX模型的网络化多智能体系统的外部共识协议

本文讨论了基于事件触发的具有时延补偿的具有非线性动力学和网络诱发时延的网络多智能体系统（NMAS）的具有时延补偿的外部共识控制协议。采用RBF-ARX建模方法近似非线性系统。通过使用RBF-ARX模型，可以获得局部线性化的时间序列模型来描述具有非线性特征的主体的行为。提出了一种具有通信时延补偿的事件触发控制协议，通过应用预测策略的思想来减少网络引起的时延的影响以及代理控制更新和其他人之间的通信的时间。每个代理的事件触发机制仅取决于其自身输出与相邻代理的延迟补偿输出之间的偏差。然后，给出了一种基于分布式事件触发和时延补偿的外部共识控制协议。在提出的控制协议下，可以证明系统的共识性和稳定性。最后，进行了数值模拟，以验证我们的结果的可用性。