  We develop an event-triggered control strategy for a weighted-unbalanced
directed homogeneous robot network to reach a dynamic consensus in this work.
We present some guarantees for synchronizing a robot network when all robots
have access to the reference and when a limited number of robots have access.
The proposed event-triggered control can reduce and avoid the periodic updating
of the signals. Unlike some current control methods, we prove stability by
making use of a logarithmic norm, which extends the possibilities of the
control law to be applied to a wide range of directed graphs, in contrast to
other works where the event-triggered control can be only implemented over
strongly connected and weight-balanced digraphs. We test the performance of our
algorithm by carrying out experiments both in simulation and in a real team of
robots.
