Adaptive Bipartite Event-Triggered Time-Varying Output Formation Tracking of Heterogeneous Linear Multi-Agent Systems Under Signed Directed Graph

Abstract

This study investigates the adaptive bipartite event-triggered time-varying output formation tracking for heterogeneous linear multi-agent systems (MASs) under signed directed communication topology. Both cooperative communication and antagonistic communication among agents are considered. The fully distributed bipartite compensator based on the novel composite event-triggered transmission mechanism is first put forward to estimate the state of the leader. Compared with the existing methods, our compensator can save communication resources using event-triggered transmission mechanism; is independent of the global information of the network graph; and is applicable for the signed directed graph. With the developed compensator, the distributed control protocol is designed to achieve the time-varying output formation tracking. Moreover, the case that the networked systems subject to external disturbances is also considered. To estimate the state of leader with disturbance, the fully distributed bipartite compensator based on an innovative composite event-triggered mechanism is presented. And the novel distributed control protocol is proposed to address the output formation tracking issue for linear MASs with heterogeneous dynamics and external disturbances. It is shown that the Zeno-behavior can be excluded in both transmission mechanisms. Finally, the effectiveness of the developed control methods is illustrated through three simulation examples.