Flocking in nonlinear multi-agent systems with time-varying delay via event-triggered control

Abstract This paper studies the flocking problem in the nonlinear multi-agent systems with time-varying delay. By adopting the event-triggered control strategy, some sufficient conditions for the flocking problem are given. The results show that the stable flocking motion is achieved when a leader could be tracked. Finally, several numerical examples are presented to illustrate the effectiveness of the obtained theoretical results.