Event-based synchronisation of multi-agent systems*

This paper investigates the synchronization problem of multi-agent systems with event-based communication. A communication between the agents is invoked only after an event condition has been fulfilled, which can be checked in a decentralized way. Event-based synchronization reduces the communication effort in comparison to the continuous-time synchronization algorithms, while the convergence of the subsystems to a bounded region around the synchronous trajectory is guaranteed.