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Distributed event-triggered synchronization of general networked systems with directed topology

This paper studies the synchronization problem of complex networks with identical nonlinear nodes via distributed event-triggered control. The triggered times are determined by a pre-given function which keeps the error small enough. A general detailed-balanced graph is considered to solving the problem of asymmetric coupling matrix. Lyapunov stability theory is utilized to prove that under several conditions the nonlinear systems can achieve completely synchronization. A centralized lower bound of the interval between any two triggered times is also found to avoid undesirable Zeno phenomenon. Examples and numerical simulation are provided to illustrate the effectiveness of the theoretical analysis.