Robust Dynamic Event-Triggered Coordination With a Designable Minimum Interevent Time

Abstract

This article revisits the classical multiagent average consensus problem for which many different event-triggered control strategies have been proposed over the last decade. Many of the earliest versions of these works conclude asymptotic stability without proving that Zeno behavior, or deadlocks, do not occur along the trajectories of the system. More recent works that resolve this issue either: propose the use of a dwell time that forces interevent times to be lower bounded away from zero but sacrifice asymptotic convergence in exchange for practical convergence (or convergence to a neighborhood); guarantee non-Zeno behaviors and asymptotic convergence but do not provide a positive minimum interevent time guarantee; or are not fully distributed. Additionally, the overwhelming majority of these works provide no form of robustness analysis on the event-triggering strategy. More specifically, if arbitrarily small disturbances can remove the non-Zeno property then the theoretically correct algorithm may not actually be implementable. Instead, this article for the first time presents a fully distributed, robust, dynamic event-triggered algorithm, for general directed communication networks, for which a desired positive minimum interevent time can be chosen by each agent in a distributed fashion. Simulations illustrate our results.