  We propose two distributed dynamic triggering laws to solve the consensus
problem for multi-agent systems with event-triggered control. Compared with
existing triggering laws, the proposed triggering laws involve internal dynamic
variables which play an essential role to guarantee that the triggering time
sequence does not exhibit Zeno behavior. Some existing triggering laws are
special cases of our dynamic triggering laws. Under the condition that the
underlying graph is undirected and connected, it is proven that the proposed
dynamic triggering laws together with the event-triggered control make the
state of each agent converges exponentially to the average of the agents'
initial states. Numerical simulations illustrate the effectiveness of the
theoretical results and show that the dynamic triggering laws lead to reduction
of actuation updates and inter-agent communications.
