In this paper, an asynchronous periodic sampling consensus method is
proposed for second-order continuous-time multi-agent systems with
event-triggered mechanism. Stochastic matrix theory is employed
successfully to analyze the consensus of the closed-loop multi-agent
systems. By appropriately choosing parameters of the proposed consensus
control protocol, it is proved that states of all agents can reach
consensus and the Zeno behaviour is excluded if the topology graph
contains a directed spanning tree. Finally, a numerical simulation
example is given to illustrate the advantages of the asynchronous
periodic sampling consensus method.