This paper investigates the distributed bipartite leader‐following consensus for uncertain linear multi‐agent systems based on event‐triggered mechanism. Both cooperative communication and hostile communication between neighbor agents are taken into account. The distributed static bipartite event‐triggered controller is first proposed to address the consensus issue. Note that the communication in both controller updating and triggering condition monitoring is intermittent, thus the communication resources can be greatly saved. Then the fully distributed adaptive bipartite event‐triggered controller is designed such that the bipartite leader‐following consensus problem can be achieved. Different from the existing control schemes, the proposed controller can be independent of the global information of the communication topology, can achieve the intermittent communication between neighbors, can suppress the effect of uncertainty, and is applicable for the signed communication topology. Moreover, the Zeno behavior in both triggering mechanisms can be excluded. Finally, some numerical examples are given to illustrate the feasibility of the main theoretical findings.

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This paper investigates a class of unknown nonlinear multi-agent systems with unknown time delays and external disturbances. The external disturbance considered in this paper is completely unknown, and the accurate mathematical expression cannot be obtained. To eliminate the external disturbance, a disturbance observer is constructed by the Disturbance-Observer-Based-Control (DOBC) method. By utilizing Young’s inequality scaling technique, the problem of time delay is solved. By assuming that the communication graph among the agents is directed and connected, a novel distributed adaptive consensus control protocol is established based on the relative output information to achieve the goal of consensus control. Furthermore, the stability of the multi-agent system is analyzed by selecting an appropriate Lyapunov function; it is certified that with the proposed control protocol, all signals are guaranteed to be globally uniformly bounded, and the considered multi-agent systems can reach consensus even in the presence of time delay and external disturbance. Finally, two simulation examples are given to support the proposed control strategy.

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