To further understand the tradeoffs between Time-Triggered Control (TTC) and Event-Triggered Control (ETC) in multi-agent systems beyond the quadratic deviation from consensus, several alternative performance measures could be considered:
Communication Efficiency: Evaluate the efficiency of communication utilization under TTC and ETC, considering factors such as the amount of data transmitted, bandwidth usage, and network congestion. This measure can provide insights into the communication overhead of each control scheme.
Robustness to Network Changes: Assess how well TTC and ETC adapt to changes in the communication network topology, such as node failures or dynamic network structures. A performance measure that captures the resilience of each scheme to network variations can be valuable.
Energy Consumption: Analyze the energy consumption of agents under TTC and ETC, taking into account the frequency of transmissions and the computational load of triggering mechanisms. Comparing the energy efficiency of both control schemes can provide insights into their sustainability.
Scalability: Evaluate how well TTC and ETC scale with an increasing number of agents in the system. A performance measure that considers the scalability of each scheme in terms of computational complexity and communication overhead can help understand their applicability to larger multi-agent systems.
By incorporating these additional performance measures, a more comprehensive understanding of the tradeoffs between TTC and ETC in multi-agent systems can be achieved, enabling informed decision-making in selecting the most suitable control scheme for specific applications.