Event-based consensus control of Lipschitz nonlinear multi-agent systems with unknown input delay and quantization constraints

This paper deals with an event-triggered protocol design for achieving global exponential consensus of Lipschitz nonlinear multi-agent systems (MASs) with unknown time-varying input delay and state quantization constraints. For such MASs, an event-triggered delay independent truncated predictor feedback (ET-DITPF) protocol is designed using the information of the upper bound of time-varying input delay (and not its exact value). A sufficient condition on the upper bound value of time-varying input delay is established under which the global consensus of the MASs in the presence of the state quantization constraints is achieved. Also, the avoidance of Zeno behavior is proved by finding a lower bound for each two successive events. A simulation study confirms the effectiveness of the obtained results.