Fully Distributed Event-Triggered Bipartite Output Formation Control for Heterogeneous MASs With Directed Graphs

Abstract

This brief considers the bipartite output time-varying formation control problem for heterogeneous multi-agent systems over signed directed graphs under an adaptive event-triggered mechanism. A fully distributed bipartite controller is designed to estimate the state of the leader and form the desired antagonistic formation shape only using the relative output information. With the help of the event-triggered mechanism, the proposed protocol prevents continuous communication among neighbor agents under the directed topology. Also, Zeno behavior is verified to be ruled out. Furthermore, the proposed protocol not only avoids using the eigenvalues of the Laplacian matrix but also does not need to continuously monitor the information of neighbor agents. Finally, the effectiveness of the designed protocol is illustrated by a numerical simulation.