# Distributed Dynamic Event-Triggered Control for Multi-Agent Systems

## TL;DR

This paper introduces two novel distributed dynamic event-triggered control laws for multi-agent systems, ensuring exponential consensus convergence while avoiding Zeno behavior and reducing communication and actuation updates.

## Contribution

The paper presents new dynamic triggering laws with internal variables, extending existing laws, and guarantees exponential consensus with reduced communication in multi-agent systems.

## Key findings

- Proposed laws guarantee exponential convergence to consensus.
- Dynamic laws prevent Zeno behavior.
- Significant reduction in communication and actuation updates.

## Abstract

We propose two distributed dynamic triggering laws to solve the consensus problem for multi-agent systems with event-triggered control. Compared with existing triggering laws, the proposed triggering laws involve internal dynamic variables which play an essential role to guarantee that the triggering time sequence does not exhibit Zeno behavior. Some existing triggering laws are special cases of our dynamic triggering laws. Under the condition that the underlying graph is undirected and connected, it is proven that the proposed dynamic triggering laws together with the event-triggered control make the state of each agent converges exponentially to the average of the agents' initial states. Numerical simulations illustrate the effectiveness of the theoretical results and show that the dynamic triggering laws lead to reduction of actuation updates and inter-agent communications.