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.

翻译：我们为一个加权的、不平衡的、均匀的、有主线的、有主线的机器人网络制定了一个事件触发控制战略,以便在这项工作中达成动态的共识。我们提出了一些保证,以便在所有机器人都能够查阅参考文献和有限数目的机器人能够进入的情况下,使机器人网络同步。拟议的事件触发控制可以减少和避免信号的定期更新。与某些目前的控制方法不同,我们通过使用对数规范来证明稳定性,该规范将控制法的适用范围扩大到范围广泛的定向图表,而与其他工程相比,事件触发控制只能对紧密相连的、重量平衡的测量进行。我们通过模拟和真正的机器人团队进行实验来测试我们的算法的性能。