The event-triggered consensus control for second-order multi-agent systems subject to actuator saturation and input time delay, is investigated in this paper. Based on the designed triggering function, a distributed event-triggered control strategy is presented to drive the system to achieve consensus. Communication energy can be saved as the agents send their state information only at infrequent event instants, the continuous communication among agents is not necessary. Lyapunov-Krasovskii functional is used together with linear matrix inequality technique to analyze the stability of the closed-loop error system. The results show that agents achieve exponentially consensus under the proposed controller. Furthermore, the bounds of solution are obtained by establishing the differential equation associated with the first delay interval. The initial domain is estimated by optimizing the linear matrix inequalities. Finally, simulation examples are presented to illustrate the effectiveness of the proposed controller.

本文研究了受执行器饱和和输入时间延迟影响的二阶多智能体系统的事件触发共识控制。基于设计的触发函数，提出分布式事件触发控制策略来驱动系统达成共识。由于代理仅在不频繁的事件瞬间发送其状态信息，因此可以节省通信能量，代理之间的连续通信是不必要的。Lyapunov-Krasovskii泛函结合线性矩阵不等式技术分析闭环误差系统的稳定性。结果表明，代理在所提出的控制器下实现了指数共识。此外，通过建立与第一延迟间隔相关的微分方程来获得解的边界。通过优化线性矩阵不等式来估计初始域。最后，给出了仿真例子来说明所提出的控制器的有效性。