Event-triggered containment control for multi-agent systems with constant time delays

The paper investigates containment control for the first-order and second-order multi-agent systems with constant time delays under event-triggered conditions, respectively. By applying existing sum of square method to stability analysis of containment control for multi-agent systems, sufficient containment conditions for multi-agent systems are obtained. First, we discussed the case of containment control for multi-agent system with single time delay, and event-triggered conditions are proposed. Then, we extend the results of containment control for multi-agent systems with single time delay to the case with multiple time delays. Finally, simulation examples are given to illustrate the effectiveness of our theoretical results.