Consensus of switched delay multi-agent systems via self-triggered impulsive control

This paper addresses the consensus problem of switched nonlinear multi-agent systems with delay and disturbances on undirected graph. Under distributed self-triggered impulsive control, continuous communication among neighbours is avoided and the lower bound of inter-event time is given. By the tool of average dwell time and comparison method, we obtain less conservative conditions for practical consensus compared with the existing results. It is shown that precise consensus can be achieved for the considered multi-agent systems without disturbances. Finally, a simulation example verifies our theoretical results.