In the context of the provided analysis, the performance comparison between Time-Triggered Control (TTC) and Event-Triggered Control (ETC) would change if the communication graph is not fully connected or if there are communication delays.
Non-Fully Connected Communication Graph:
In a non-fully connected communication graph, where not all agents can directly communicate with each other, the performance of both TTC and ETC may be affected.
For TTC, the constant inter-event time may lead to inefficiencies in communication between agents that are not directly connected, potentially causing delays in achieving consensus.
ETC, on the other hand, may face challenges in triggering transmissions effectively across the network, especially if the triggering conditions are based on local information only. This could result in suboptimal performance compared to a fully connected graph.
Communication Delays:
Introducing communication delays can significantly impact the performance of both TTC and ETC in multi-agent systems.
For TTC, delays can lead to synchronization issues and inconsistencies in the timing of transmissions, affecting the overall control performance and potentially causing deviations from the desired consensus state.
In the case of ETC, communication delays can disrupt the triggering mechanism, leading to suboptimal decisions on when to transmit information. This can result in increased deviations from consensus and reduced control performance.
In summary, non-fully connected communication graphs and communication delays can introduce additional challenges and complexities in the performance comparison between TTC and ETC in multi-agent systems, potentially altering the superiority of one control scheme over the other.