Communication-Efficient Consensus for Networked Robotic Sensors: A Weighted Sliding Integration-Based Adaptive Dynamic Event-Triggered Approach

This paper addresses the consensus problem for networked robotic sensors characterized by general linear dynamics and strict communication bandwidth limitations. We propose a weighted sliding integration-based adaptive dynamic event-triggered control (WSI-ADETC) strategy. First, we design a bounded adaptive parameter using a nonlinear protocol to enhance sensitivity to changes in consensus error. To further alleviate the communication burden on the sensing network, we propose a weighted sliding integration-based event-triggering mechanism to reduce the number of triggers compared to traditional adaptive dynamic event-triggered control (ADETC) approaches. Using Lyapunov analysis, we establish sufficient conditions for asymptotic consensus and demonstrate that the proposed controller effectively eliminates Zeno behavior. Numerical simulations demonstrate that the proposed WSI-ADETC strategy significantly reduces communication frequency while maintaining satisfactory consensus performance. Compared with recent adaptive dynamic event-triggered methods, the proposed method reduces the total triggering number by more than 53%, providing a communication efficient solution for resource-constrained robotic sensing networks.