Distributed Dynamic Event-Triggered Coordination with a Designable Minimum Inter-Event Time
James Berneburg, Cameron Nowzari · 2019
This paper revisits the classical multi-agent average consensus problem for which many different event-triggered control strategies have been proposed over the last decade. Many of the early 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 have studied this issue fall short in that they either: (i) propose the use of a dwell-time that forces inter-event times to be lower-bounded away from 0 but sacrifices asymptotic convergence in exchange for practical convergence (or convergence to a neighborhood; (ii) guarantee non-Zeno behaviors and asymptotic convergence but without a positive minimum inter-event time guarantee; or (iii) are not fully distributed. Instead, this work for the first time presents a fully distributed event-triggering algorithm for which a desired minimum inter-event time can be chosen by each agent while still guaranteeing asymptotic convergence to the average consensus state. Simulations illustrate our results.