Fully distributed bipartite leader-following consensus for uncertain linear multi-agent systems with event-triggered mechanism

This paper investigates the distributed bipartite leader-following consensus for uncertain linear multi-agent systems based on event-triggered mechanism. Both cooperative communication and hostile communication between neighbor agents are taken into account. The distributed static bipartite event-triggered controller is first proposed to address the consensus issue. Note that the communication in both controller updating and triggering condition monitoring is intermittent, thus the communication resources can be greatly saved. Then the fully distributed adaptive bipartite event-triggered controller is designed such that the bipartite leader-following consensus problem can be achieved. Different from the existing control schemes, the proposed controller can be independent of the global information of the communication topology, can achieve the intermittent communication between neighbors, can suppress the effect of uncertainty, and is applicable for the signed communication topology. Moreover, the Zeno behavior in both triggering mechanisms can be excluded. Finally, some numerical examples are given to illustrate the feasibility of the main theoretical findings.