Neural Computing and Applications

, Volume 29, Issue 9, pp 361–369 | Cite as

Connectivity preserved nonlinear time-delayed multiagent systems using neural networks and event-based mechanism

  • Hongwen Ma
  • Ding Wang


This paper studies how to preserve connectivity for nonlinear time-delayed multiagent systems using event-based mechanism. By using the idea of divide-and-conquer, we divide the distributed controller into five parts to deal with different requirements of the time-delayed multiagent systems, such as eliminating the negative effects of time delays, preserving connectivity, learning the unknown dynamics and achieving consensus. To reduce the communication times among the agents, a centralized event-based protocol is introduced and an event-triggered function is devised to control the frequency of the communication without Zeno behavior. The technique of \(\sigma \)-functions is used to exclude the singularity of the established distributed controller. In the simulation example, the results demonstrate the validity of our developed methodology.


Connectivity preservation Event-based control Multiagent systems Neural networks 



This work was supported in part by the National Natural Science Foundation of China under Grants 61233001, 61273140, 61304086, 61533017, 61503379 and U1501251, in part by China Scholarship Council under the State Scholarship Fund, in part by Beijing Natural Science Foundation under Grant 4162065 and in part by the Early Career Development Award of SKLMCCS.


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Copyright information

© The Natural Computing Applications Forum 2016

Authors and Affiliations

  1. 1.The State Key Laboratory of Management and Control for Complex Systems, Institute of AutomationChinese Academy of SciencesBeijingChina
  2. 2.University of Chinese Academy of SciencesBeijingChina

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