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This research investigates the leader-following consensus problem in multi-agent systems affected by nonlinear disturbances and delays.

New consensus criteria for nonlinear time-delay MASs under semi-Markov switching topology via aperiodically intermittent event-triggered communication

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Randomized trial demonstrates improved consensus in multi-agent systems, suggesting effective communication strategies.

This research investigates the leader-following consensus problem in multi-agent systems affected by nonlinear disturbances and delays.
Proposed a novel aperiodically intermittent communication protocol
Developed sufficient stability conditions using linear matrix inequalities
Utilized numerical simulations to verify effectiveness
Achieved significant energy reduction during communication updates
Established conditions ensuring leader-following consensus under delays and nonlinear coupling
Demonstrated effectiveness of the proposed method in simulations

Zhang et al. (2026) studied this question.

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