Synchronization of nonlinear networked agents under event-triggered control

The global synchronization problem for second-order nonlinear multi-agent systems via event-triggered control is considered in this paper. Combining consensus theory with event-triggered idea, an event-triggered synchronization algorithm is proposed, which can achieve synchronization asymptotically for all agents. The unexpected Zeno phenomenon can be avoided for the proposed event-triggered mechanism since there is a lower bound on the time of two consecutive transmissions. An example is provided to verify the effectiveness of the proposed algorithm.