Global precise consensus tracking control for uncertain multiagent systems in cooperation-competition networks

The multiagent systems (MASs) play a crucial role in practical applications, and the global precise control of MASs under cooperative-competitive networks presents significant challenges. This paper addresses the global precise consensus tracking control problem for uncertain MASs cooperation-competition networks. A novel framework of distributed event-based prescribed time observer (EPTO) is proposed for the followers, which allows to accurately estimate the leader's state within a prescribed time interval. Moreover, the design of event-triggered conditions for each EPTO reduces the communication load between neighboring agents by avoiding the continuous transmission of neighbor states. Using the observed values after triggering within the backstepping method framework, a global bipartite control scheme is then developed to expedite the convergence time, enhance the convergence performance, and perform precise tracking control for high-order uncertain MASs. The distinctive feature of the proposed global bipartite control scheme lies in the design of a novel controller, which improves the semi-global control result of the existing schemes. Finally, two simulation examples are presented to demonstrate the effectiveness of the EPTO-based bipartite control scheme.