Fully Distributed Event-triggered Bipartite Control Of Heterogeneous Multi-agent Systems

In recent years,with the development of artificial intelligence technology,the distributed control problem of multi-agent system(MAS)has aroused extensive discussion.Compared with single agent system,MAS has been utilized in widespread fields such as intelligent robot,complex network,artificial satellite and so on,due to its strong robustness and anti-interference performance.At present,MAS can be divided as homogeneous MAS and heterogeneous MAS according to whether each agent can have an unique dynamic model.In the heterogeneous MAS,multiple agents can have different dynamics and even state dimensions,which is more general.Moreover,information transmission between multiple agents is often characterized by communication topology.Considering that there is not only cooperative relationship but also antagonism relationship among agents in practical applications,signed communication topology is widely applied.With the further research on MASs,reducing information transmission and resource consumption has become a hot issue while ensuring MASs achieve tasks.Based on this,this paper mainly studies the fully distributed event-triggered bipartite control of heterogeneous linear MASs based on signed communication topology,in which each agent does not need to know global topology information,including the eigenvalues of Laplace matrix and the number of agents.In addition,in order to avoid that all followers need to communicate directly with the leader to obtain the leader’s information,this paper proposes a class of fully distributed observers for followers to realize the observations of leader’s information.Under this framework,the specific work is as follows:1.This paper mainly deals with the dual-terminal dynamic event-triggered bipartite output containment control of heterogeneous linear MASs subject to actuator faults.Dual-terminal dynamic event-triggered mechanisms are addressed to exclude not only continuous control updates but also continuous communication among agents.First,a class of dynamic event-triggered observers is proposed for each follower to estimate the leaders’ system matrices and(symmetric)combination states.Then,based on the estimations of leaders’ information,the dynamic event-triggered output-feedback faulttolerant controllers are proposed.Correspondingly,some mild criteria and the rigorous proofs are established to ensure the implementation of bipartite output containment through the Lyapunov stability theory.2.In order to improve the convergence rate and robust performance of MAS,this paper extends the above research problem from the asymptotic control to the fixedtime control.This paper mainly addresses the pull-based event-triggered fixed-time output control of heterogeneous linear MASs with an active leader.Firstly,a class of fixed-time observers is proposed for each follower to estimate leader’s information.Then,based on the estimations of leader’s information,the fixed-time controllers associated with state feedback and output feedback are respectively proposed by employing pull-based event-triggered mechanisms.The proposed pull-based event-triggered mechanisms guarantee that each agent merely updates controller at its own triggering instants regardless of its neighbors’ triggering instants,which can significantly reduce the event-triggered numbers.Correspondingly,some sufficient criteria and the rigorous proofs are provided to ensure the implementation of bipartite output consensus in fixed time by using Lyapunov stability theory and fixed-time stability theory.Moreover,for the proposed even-triggered mechanisms,the strictly positive lower bounds of intervals between two adjacent event-triggered times are derived,which means the Zeno behavior is ruled out and validates the effectiveness of the eventtriggering mechanisms.Finally,numerical simulations are performed to verify the feasibility of the proposed control strategies.