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    Area of Science:

    • Control Theory
    • Robotics
    • Networked Systems

    Background:

    • Multiagent systems (MASs) face challenges in achieving coordinated formations under uncertain conditions.
    • Bipartite time-varying formations (BTVF) require sophisticated control for systems with leader-follower interactions and signed graph topologies.
    • External disturbances and unmeasurable states in followers complicate control design.

    Purpose of the Study:

    • To develop a robust control protocol for bipartite time-varying formations (BTVF) in multiagent systems (MASs).
    • To address challenges posed by external disturbances, unreachable leader control signals, and unmeasurable follower states.
    • To ensure the exclusion of Zeno behavior in the proposed event-triggered control strategy.

    Main Methods:

    • Design of an unknown input observer (UIO) for state estimation in followers.
    • Construction of a distributed consensus error dynamic system.
    • Development of a distributed unknown input reconstruction method for disturbance estimation.
    • Proposal of an event-triggered BTVF control protocol.

    Main Results:

    • Successful state estimation using UIOs despite unknown inputs.
    • Accurate estimation of multiple disturbances within the consensus error system.
    • Achieved two antagonistic time-varying formations using the event-triggered protocol.
    • Demonstrated robustness and effectiveness through wheeled robot simulations.

    Conclusions:

    • The proposed UIO-based, event-triggered control strategy effectively enables bipartite time-varying formations in MASs.
    • The method robustly handles external disturbances and unmeasurable states, outperforming traditional approaches.
    • The exclusion of Zeno behavior ensures practical applicability in real-world robotic systems.