This study investigates the fully distributed bipartite output consensus issue of heterogeneous linear multiagent systems (HLMASs) based on event-triggered transmission mechanism. Both the cooperative interaction and the antagonistic interaction between neighbor agents are considered. A fully distributed bipartite compensator consisting of time-varying coupling gain and dynamic event-triggered mechanism is first proposed to estimate the leader's states. Different from the existing schemes, the proposed compensator is independent of any global information of the network topology, is capable of achieving intermittent communication between neighbors, and is applicable for the signed communication topology. Then the distributed output feedback control protocol is developed such that the fully distributed bipartite event-triggered output consensus problem can be achieved. Moreover, we extend the results in HLMASs without external disturbances to HLMASs with disturbances, which is more challenging in three cases (a) the disturbances are not available for measurement, (b) the disturbances suffered by each agent are heterogeneous, and (c) the disturbances are not required to be stable or bounded. It is proven that the proposed controllers fulfill the exclusion of Zeno behavior in two consensus problems. Finally, two examples are provided to illustrate the feasibility of the theoretical results.
K E Y W O R D Sadaptive control, bipartite control, event-triggered control, external disturbances, heterogeneous multiagent systems, output consensus 1 Recent years have witnessed rapid development in distributed cooperative control of multiagent systems (MASs) due to its extensive applications such as energy internet, mobile robot, and unmanned aerial vehicle formation. 1-3 As one of the most basic and pivotal problems in the cooperative control, the distributed consensus control has received considerable attention from investigators. It aims at designing the distributed control scheme such that a set of agents reach an agreement on state or output. Some pioneering works on this topic can be found in References 4-12 and references therein. For example, many early studies focused on the relative simple systems including single-integrator systems 4,5 and double-integrator systems. 6,7 Since then, many efforts have been devoted to the more general linear MASs. 8,9 Note 3382 /journal/rnc Int J Robust Nonlinear Control. 2020;30:3382-3410.CAI et al.
3383that the aforementioned works are developed on homogeneous systems, that is, the system dynamics of all agents are the same. However, in many practical scenarios, the system dynamics are often different. In this regard, the output consensus problem of heterogeneous MASs is usually studied. Several typical results have been obtained (see References 10-12 and the references therein). From the review of the control protocols in above-mentioned works, it can be observed that continuous communication between each agent and its neighbors is required. However, in many real applications, each ...
