  This paper revisits the classical multi-agent average consensus problem for
which many different event-triggered control strategies have been proposed over
the last decade. Many of the earliest versions of these works conclude
asymptotic stability without proving that Zeno behavior, or deadlocks, do not
occur along the trajectories of the system. More recent works that resolve this
issue either: (i) propose the use of a dwell-time that forces inter-event times
to be lower-bounded away from zero but sacrifice asymptotic convergence in
exchange for practical convergence (or convergence to a neighborhood); (ii)
guarantee non-Zeno behaviors and asymptotic convergence but do not provide a
positive minimum inter-event time guarantee; or (iii) are not fully
distributed. Additionally, the overwhelming majority of these works provide no
form of robustness analysis on the event-triggering strategy. More
specifically, if arbitrarily small disturbances can remove the non-Zeno
property then the theoretically correct algorithm may not actually be
implementable. Instead, this work for the first time presents a fully
distributed, robust, dynamic event-triggered algorithm, for general directed
communication networks, for which a desired positive minimum inter-event time
can be chosen by each agent in a distributed fashion. Simulations illustrate
our results.
