Consensus in networked dynamical systems with event-triggered control inputs and random switching topologies

Event-triggered control approaches of networked control systems are motivated by applications of embedded microprocessors with limited computation and storage resources . This paper investigates an event-triggered consensus control scheme with random switching directed topologies and time-varying transmission delay in a general class of networked control systems. A distributed sampling scheme triggering at node's independent time instants is designed for updates of control inputs. The desired properties of the resulted error dynamical system, such as stability and convergence can be preserved. It is not only proven that the event-triggered consensus is reachable, but also given an estimation of the convergence rate. It is shown that before the consensus is achieved, the inner-event interval is lower bounded by a positive constant, which excludes the Zeno behavior. The results are also applied to other special cases including time-delay free, fixed topology and leader-following consensus cases. Numerical simulation examples are presented to demonstrate the correctness of the theoretical results.