Dynamic event-triggered bipartite consensus for uncertain high-order nonlinear multi-agent systems

In this paper, the bipartite consensus problem is studied for a class of uncertain high-order nonlinear multi-agent systems. A signed digraph is presented to describe the collaborative and competitive interactions among agents. For each agent with lower triangular structure, a time-varying gain compensator is first designed by relative output information of neighboring agents. Subsequently, a distributed controller with dynamic event-triggered mechanism is proposed to drive the bipartite consensus error to zero. It is worth noting that an internal dynamic variable is introduced in triggering function, which plays an essential role in excluding the Zeno behavior and reducing energy consumption. Furthermore, the dynamic event-triggered control protocol is developed for upper triangular multi-agent systems to realize the bipartite consensus without Zeno behavior. Finally, simulation examples are provided to illustrate the effectiveness of the presented results.