Event-triggered consensus with synchronous event and controller triggering

This work studies the event-triggered consensus problem of multi-agent systems. In many existing works regarding event-triggered consensus, each agent has to update its control input at not only the event time instant of itself, but also the event time instants of its neighbors. In this work, by using a state buffer for each agent, the proposed control strategy can achieve synchronous event triggering and controller updating. Then the agents only update its controller at the event time instant of itself. As a result, it is expected that the new control approach can reduce the number of controller update. Numerical examples shows the effectiveness of the novel control approach.