Robust Team-Triggered Coordination of Networked Cyberphysical Systems

Abstract

This paper proposes a novel approach, termed team-triggered, to the real-time implementation of distributed controllers on networked cyberphysical systems.We build on the strengths of event- and self-triggered control to synthesize a single, unified approach that combines aspects of both and is implementable over distributed networked systems, while maintaining desired levels of performance. We establish provably correct guarantees of the distributed strategies resulting from the proposed approach and examine their robustness against multiple sources of errors including communication delays, packet drops, and communication noise. The results are illustrated in simulations of a multi-agent coverage control problem. © Springer International Publishing Switzerland 2013.