Robust Team-Triggered Coordination of Networked Cyberphysical Systems Cameron Nowzari and Jorge Cort´ es University of California, San Diego 9500 Gilman Dr, La Jolla, California 92093 {cnowzari,cortes}@ucsd.edu Abstract. This paper proposes a novel approach, termed team-triggered, to the real-time implementation of distributed controllers on networked cy- berphysical 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 ap- proach and examine their robustness against multiple sources of errors in- cluding communication delays, packet drops, and communication noise. The results are illustrated in simulations of a multi-agent coverage control problem. Keywords: cyberphysical systems, event-triggered control, self- triggered control, wireless robotic networks, set-valued dynamical systems, robust algorithms. 1 Introduction The interest in the efficient and robust operation of cyberphysical systems has motivated a growing body of work that studies the distributed design and real- time implementation of controllers for networked sensors and actuators. In these systems, energy consumption is correlated with the rate at which sensors take samples, processors recompute control inputs, and actuator signals are trans- mitted. Performing these tasks periodically is costly and might be, at times, unnecessary or unfeasible due to physical constraints. Examples of unnecessary actions include sampling a part of the state that is already known or can be re- constructed with already available information, or recomputing a control signal that has not changed substantially. To address these issues, the goal of triggered control is to identify criteria that allow agents to tune the implementation of controllers and sampling schemes to the execution of the task at hand and the desired level of performance. In event-triggered control, the focus is on detecting events during the network execution that are relevant from the point of view of task completion and should trigger specific agent actions. In self-triggered control, instead, the emphasis is on developing tests that rely only on the information available to individual agents D.C. Tarraf (ed.), Control of Cyber-Physical Systems, 317 Lecture Notes in Control and Information Sciences 449, DOI: 10.1007/978-3-319-01159-2_ 17, c  Springer International Publishing Switzerland 2013