Adaptive Bipartite Hybrid Event-Triggered Output Consensus of Heterogeneous Uncertain Multiagent Systems Under Fixed...

Area of Science:

• Control Systems Engineering
• Networked Systems
• Robotics

Background:

• Multiagent systems (MASs) face challenges in achieving consensus due to uncertainty and communication constraints.
• Bipartite output consensus is crucial for applications requiring coordinated behavior in systems with opposing groups.
• Event-triggered control mechanisms are essential for reducing communication load in MASs.

Purpose of the Study:

• To address the bipartite output consensus problem in heterogeneous uncertain multiagent systems.
• To develop a hybrid event-triggered control mechanism for efficient information exchange.
• To design a distributed output feedback controller for achieving consensus.

Main Methods:

• A fully distributed adaptive bipartite compensator with time-varying coupling weights was designed.
• A hybrid event-triggered mechanism, including leader and edge-event triggering, was implemented.
• A novel distributed output feedback controller was proposed for uncertain system dynamics.

Main Results:

• The proposed controller successfully resolved the bipartite output consensus problem for heterogeneous uncertain MASs.
• The hybrid event-triggered mechanism effectively reduced information transmission among agents.
• The theoretical findings were validated through four simulation examples.

Conclusions:

• The developed control strategy ensures bipartite output consensus in complex MASs.
• The hybrid event-triggered approach offers a practical solution for reducing communication overhead.
• The results are extendable to systems with switching topologies, demonstrating robustness.