Timer-based distributed coordination for achieving asymptotic consensus in directed communication networks

This paper addresses the consensus problem of linear multi-agent systems (MASs) in directed graphs using a timer-based event-triggered control algorithm. The proposed distributed algorithm allows each agent to update its control law and event monitoring condition using only relative state information from neighboring agents at discrete event instants. This algorithm minimizes reliance on global information and significantly reduces communication overhead, thereby enhancing both efficiency and scalability. A common challenge in event-based control algorithms is the potential for Zeno behavior, where an infinite number of events could occur within a finite time, making the system impractical. While conventional algorithms avoid Zeno behavior by ensuring non-zero time intervals between events, they often fail to address the issue of excessively short event intervals. Our algorithm overcomes this limitation by establishing a strictly positive lower bound for the interval between events for each agent, thereby not only avoiding Zeno behavior but also ensuring practical applicability and robustness of the control strategy. Through simulation studies, we validate the efficacy of our algorithm in achieving asymptotic consensus in linear MASs over directed graphs.