Event-Triggered Control for Weight-Unbalanced Directed Networks
This work addresses synchronization challenges in robot networks with limited access to reference signals, offering a more flexible control approach for directed graphs, though it appears incremental in extending existing event-triggered methods.
The paper tackles the problem of achieving dynamic consensus in weight-unbalanced directed robot networks by developing an event-triggered control strategy, which reduces periodic signal updates and is proven stable using a logarithmic norm, extending applicability to a wider range of directed graphs beyond strongly connected and weight-balanced ones.
We develop an event-triggered control strategy for a weighted-unbalanced directed homogeneous robot network to reach a dynamic consensus in this work. We present some guarantees for synchronizing a robot network when all robots have access to the reference and when a limited number of robots have access. The proposed event-triggered control can reduce and avoid the periodic updating of the signals. Unlike some current control methods, we prove stability by making use of a logarithmic norm, which extends the possibilities of the control law to be applied to a wide range of directed graphs, in contrast to other works where the event-triggered control can be only implemented over strongly connected and weight-balanced digraphs. We test the performance of our algorithm by carrying out experiments both in simulation and in a real team of robots.