Event-triggered bipartite leader-following consensus of linear multi-agent systems with a dynamic leader

In this paper, we study the bipartite tracking consensus of a multi-agent system based on event-triggered mechanism under signed directional communication topology, in which the leader has bounded control input that cannot be obtained by followers. Firstly, compared with the existing work, the control input of the leader in the multi-agent system model in this paper is allowed to be non-zero and each follower is unknown. To reduce the driving burden in dynamic networks, the event-triggered strategy is applied to the multi-agent systems' bipartite consensus protocol. Then, to ensure the consensus of bipartite tracking, a distributed nonsmooth protocol based on the relative state information of adjacent agents is proposed and analyzed. This algorithm adopts an event-driven algorithm, which can not only reduce the unnecessary consumption of limited resources such as communication load and energy of agents, but also reduce the influence of competing nodes on the convergence of cooperative nodes. Furthermore, Zeno behavior may be ruled out in this trigger mechanism. Finally, numerical simulation results show the effectiveness of the algorithm.