Distributed bipartite finite-time event-triggered output consensus for heterogeneous linear multi-agent systems under directed signed communication topology

Abstract

This paper addresses the distributed bipartite finite-time event-triggered output consensus issue for heterogeneous linear multi-agent systems under directed signed communication topology. Both cooperative interaction and antagonistic interaction between neighbor agents are considered. A novel distributed bipartite compensator with intermittent communication mechanism is first proposed to estimate the leader’s states in finite time. Different from the existing schemes, the proposed compensator is able to achieve intermittent communication between neighbors, is capable of estimating the leader’s states within finite time, and is applicable for the directed signed communication topology. Based on the developed compensator, the distributed state feedback control protocol is designed such that the bipartite output consensus problem can be achieved within finite time. Moreover, the observer-based output feedback control protocol is put forward to address the case that the system states are not available for measurement. Furthermore, the Zeno behavior can be excluded by choosing the appropriate parameters. Finally, two examples are given to illustrate the feasibility of the theoretical results.