Self-triggered coordination with ternary controllers*

This paper regards coordination of networked systems with ternary controllers. We develop a hybrid coordination system which implements a self-triggered communication policy, based on polling the neighbors upon need. We prove that the proposed scheme ensures finite-time convergence to a neighborhood of the consensus state. We estimate both the size of the error neighborhood, and the time and communication costs, as functions of the sensitivity of the quantizer: our analysis highlights natural trade-offs between accuracy of consensus and costs. In the same hybrid self-triggered framework, we also design a time-varying controller which asymptotically drives the system to consensus.