Event-triggered bipartite consensus control algorithm design for nonlinear second-order multi-agent systems

Abstract

Bipartite consensus of nonlinear second-order multi-agent systems with directed communication topology is investigated in this article. A kind of novel event-triggered control protocol is proposed, which based on relative information sensing. Different from some conventional event-triggered control for second-order multi-agent systems, the event-triggered control in distributed way for second-order multi-agent systems is studied in this article, which imply that the controller of each follower only needs to collect the local information. To eliminate too large control gain, the control gain of control protocol is further designed based on adaptive way. Moreover, these control algorithms prove that Zeno behavior can be avoided. Finally, the performance of the proposed control protocols is presented by virtue of two simulation examples.