Event-triggered communication and control of networked systems for multi-agent consensus

摘要

This article is a tutorial to event-triggered coordination for multi-agentaverage consensus.We provide a comprehensive account of the motivations behindthe use of event-triggered strategies for consensus, the methods for algorithmsynthesis, the technical challenges involved in establishing desirableproperties of the resulting implementations, and their applications indistributed control. We pay special attention to the assumptions on thecapabilities of the network agents and the resulting features of the algorithmexecution, including the interconnection topology, the evaluation of triggers,and the role of imperfect information. The issues raised in our discussiontranscend the specific consensus problem and are indeed characteristic ofcooperative algorithms for networked cyber-physical systems that solve othercoordination tasks. As our discussion progresses, we make these connectionsclear, highlighting general challenges and tools to address them widespread inthe event-triggered control of network systems.