Abstract
This paper studies bipartite consensus for first-order multiagent systems. To improve resource utilization, event-based protocols are considered for bipartite consensus. A new type of control gain is designed in the proposed protocols. By appropriate selection of control gains, the convergence rate of the closed-loop system can be adjusted. Firstly, for structural balance case, necessary and sufficient conditions are given on communication relations and consensus gains to achieve bipartite consensus. Secondly, for structural unbalance case, necessary and sufficient conditions are proposed to ensure the stabilizing of the system. It can be found that the system will not show Zeno behavior. Numerical simulations are used to demonstrate the theoretical results.
Highlights
Consensus problem is one of the hot topics in coordination of multiagent systems (MASs)
This paper studies bipartite consensus for first-order multiagent systems
The following result is the main result of this section
Summary
Consensus problem is one of the hot topics in coordination of multiagent systems (MASs). In real applications, cooperative and competitive relations among agents exist In these circumstances, bipartite consensus is studied [10,11,12,13,14,15,16,17,18,19,20]. Based on the cooperation and competition among agents, bipartite consensus can be achieved if agents agree upon a certain value with the same quantity and different signs. In [28], a new eventbased protocol for average consensus of MASs was proposed and continuous monitoring of agents’ states was not required. Necessary and sufficient conditions are given on communication relations and consensus gains. Rn×m represents all real matrices of n × m order. 0 denotes vector or matrix whose elements are 0. 1n represents column vector whose elements are 1. sgn(⋅) represents sign function
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