Leader-following mean square consensus of stochastic multi-agent systems with input delay via event-triggered control

This paper addresses the mean square consensus problem of leader-following stochastic multi-agent systems using a distributed event-triggered control strategy. For each involving agent, generally, the time-varying (or fixed) delay between controller and actuator is unavoidable. The controller is updated only when the event condition is triggered. Based on the Lyapunov function method and Ito formula, three sufficient conditions for leader-following mean square consensus are established, including a delay-independent consensus condition and a delay-dependent criterion for the case with input fixed time delay, and a consensus criterion for the case with input time-varying delay. Furthermore, an inter-event time lower bound between two sampling points is derived. The results are illustrated through several numerical examples.