A distributed event-triggered dynamic average consensus scheme with a time-varying threshold and its application in DC microgrid

We propose a distributed event-triggered dynamic average consensus (DAC) scheme with a time-varying threshold for a multi-agent system (MAS) in a directed graph. In this scheme, each agent is not required to monitor its neighbors in real time, and a threshold is chosen related to consensus performance directly in an MAS, where the threshold is adjusted adaptively according to average consensus performance. Also, we introduce a bounded and monotonically increasing function in a time-varying threshold, and this function is for guaranteeing the value of a threshold to locate in an appropriate range. Stability analysis shows that the tracking error is eventually bounded and the MAS achieves DAC without Zeno behaviors. Furthermore, the proposed event-triggered DAC scheme is applied to voltage restoration and adjustable current sharing in DC microgrid. The effectiveness of the proposed scheme is verified by two examples.