The paper proves that heterogeneous nonlinear multi-agent systems on strongly connected directed graphs can achieve asymptotic output synchronization with event-triggered, Zeno-free distributed controllers under a two-step design.
Comparison of periodic and event based sampling for first-order stochastic systems,
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Event-Triggered Output Synchronization of Heterogeneous Nonlinear Multi-Agents
The paper proves that heterogeneous nonlinear multi-agent systems on strongly connected directed graphs can achieve asymptotic output synchronization with event-triggered, Zeno-free distributed controllers under a two-step design.