Bipartite finite-time output consensus of heterogeneous multi-agent systems by finite-time event-triggered observer

Abstract

This paper investigates the bipartite finite-time output consensus problem of heterogeneous linear multi-agent systems (HL-MASs) described by a directed signed graph. First, by combining the event-triggered mechanism and finite-time control, we propose a bipartite finite-time event-triggered observer (bipartite FT-ET observer) to estimate the leader’s state. Triggering condition is presented by introducing a dynamic variable. Compared with conventional observer to solve the output consensus problem, exact estimation of the leader’s state can be achieved by only intermitted communication among agents. Moreover, Zeno behavior can be avoided by choosing parameters appropriately. Then, we construct a finite-time controller based on bipartite FT-ET observer, such that the bipartite output consensus can be achieved in a finite time. Finally, an example is provided to illustrate the effectiveness of the results.