Bipartite Consensus For Multi-Agent Systems Under Event-Triggered Control

The consensus is the basics for the study of the coordination control of multi-agent systems and thus attracts widespread attentions.Besides,due to the limited resources of embedded microprocessors and wireless networks,improving the utilization of resources has become an urgent problem for multi-agent systems.Event-triggered control has significant advantages in resource utilization and is often combined with multi-agent system problem.In addition,most of the existing researches on the consensus problems are limited to“cooperation”relationships.The co-existence of “cooperation-competition” relationships is less studied and more universal.We aim to design event-triggered mechanisms for several different multi-agent systems in this article to achieve bipartite consensus.The main content is as follows:We design an event-triggered control strategy for non-holonomic multi-agent systems with co-existence of“cooperation-competition” relationships.Centralized event-triggered control,distributed event-triggered control and the event-triggered control for improved control law are proposed respectively for fixed topology.Furthermore,for the non-holonomic multi-agent system under switching topology,event-triggered control is explored to achieve bipartite consensus and ensures the elimination of Zeno behavior.The event-triggered bipartite analysis is carried out for the second-order multi-agent system in heterogeneous topologies.The triggering conditions for the position topology and the velocity topology which only need information of itself and its neighbors are independent.In addition,continuous communication can be avoided in the triggering conditions.Zeno behavior can be also excluded with the aid of the external dynamic variable in the triggering conditions.An event-triggered control mechanism is proposed for network-to-network bipartite consensus problem which is suitable for multi-agent systems under dynamic topologies.In view of the fact that the control law of the system is designed in the form of derivative,the properties of the coefficient matrix of the closed-loop control system are investigated and then the bipartite consensus of the system is analyzed.Furthermore,the analysis of Zeno behavior proves that the event-triggered interval time of the system is strictly positive in finite time.Finally,the research of this paper is summarized and prospected.