Bipartite tracking consensus for asynchronous second‐order multiagent systems with event‐triggered mechanism

Abstract

SummaryThis article is concerned with event‐triggered bipartite tracking consensus under an asynchronous sampling setting, where the event‐triggering condition for each agent is allowed to be intermittently examined at its own sampling instants. First, a novel distributed protocol based on independent sampling period is presented, with which the bipartite tracking consensus issue can be transformed into the convergence problem of the augmented error system. Then, with the help of tools from graph theory and matrix analysis, a sufficient condition on the bipartite tracking consensus is derived. By appropriately choosing control parameters, it is shown that the bipartite tracking consensus can be achieved under the proposed protocol for the graph that contains a directed tree and the subgraph among followers is structurally balanced. Finally, numerical simulations are provided to verify the theoretical results.