Leader Following Practical Bipartite Consensus Of Multi-agent Systems

In recent years,the cooperative control of multi-agent systems has been paid much attention in many fields,among which,the consistency problem occupies an important position,has obtained a lot of research results.Considering the complexity of actual operating environment of multi-agent system,this paper aims at leader-follower multi-agent systems with limited communication resources and competitive and cooperative interactions,combining data quantization mechanism and dynamic event-triggered strategies to investigates the leader following practical bipartite consensus.The contents of this paper are as follows:Firstly,an appropriate dynamic event triggering mechanism is designed for each agent,this mechanism can avoid continuous communication between neighbors and reduce the number of controller updates.therefore,the consumption of communication resources in multi-agent system can be effectively reduced,and an adaptive control protocol is designed based on the state value of each agent at trigger time and uniform quantizer,this control protocol can overcome the problem of parameter drift caused by the continuous increase of adaptive coupling weight of external disturbance.Through stability analysis and simulation examples,it is proved that under the control protocol proposed in this paper,multi-agent systems that satisfy the condition of structurally balanced topology can achieve the leader following practical bipartite consensus,and there is no Zeno behavior.Secondly,considering that the state information of multi-agent system cannot be directly measured due to the constraints of system complexity or cost,the leader following practical bipartite consensus problem is further discussed by combining the state observer.A distributed state observer is designed to estimate system state values,in addition,two dynamic event triggering mechanisms is designed for the observer and controller.they are used to drive the communication between agents and update the controller,a suitable control protocol is designed based on the observed value,the state value of each agent at trigger time and the uniform quantizer.Through stability analysis and simulation examples,it is proved that the designed state observer can accurately observe the system state value,under the designed control protocol,the multi-agent systems that satisfy the condition of structurally balanced topology can converge to the bounded region through low communication cost,and there is no Zeno behavior.