Event-Triggered Control for Weight-Unbalanced Directed Networks
Abstract
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.
Keywords
Cite
@article{arxiv.2108.09609,
title = {Event-Triggered Control for Weight-Unbalanced Directed Networks},
author = {Juan D. Pabon and Gustavo A. Cardona and Nestor I. Ospina and Juan Calderon and Eduardo Mojica-Nava},
journal= {arXiv preprint arXiv:2108.09609},
year = {2021}
}
Comments
6 Pages, 4 Figures, IROS 2021