Dynamic Event-Triggered Bipartite Consensus of Multiagent Systems With Estimator and Cooperative-Competitive Interactions

Abstract

In this brief, the bipartite consensus problem of linear multi-agent systems with a dynamic event-triggered protocol is studied. A distributed controller with a cooperative-competitive mechanism and estimated states is first designed, and a dynamic event-triggered mechanism proposed in which the triggering threshold is dynamically updated by the designed auxiliary equation. Under this control strategy, the systems only need the states of the agent and neighboring agents at the triggering instants. At the same time, the estimator is considered to reduce the states deviation of multi-agent systems between adjacent triggering instants. Moreover, bipartite consensus can be achieved without Zeno behavior. Finally, the feasibility of the proposed method is illustrated in a unicycle model.