Dynamic event-triggered mechanism for practical bipartite tracking consensus of uncertain high-order multi-agent...

This paper investigates the practical bipartite tracking consensus for uncertain nonlinear high-order multi-agent systems with input saturation and time-varying input delay over signed switching topologies. To address input saturation and time-varying input delay simultaneously, an auxiliary system is developed. The states and the total disturbance of the considered systems are estimated by designing a dynamic event-triggered extended state observer (ESO). Under the framework of the command filtered backstepping, a dynamic event-triggered controller is proposed utilizing the states of the ESO. Then the practical bipartite tracking consensus can be guaranteed under the proposed controller. Meanwhile, the Zeno behavior is excluded. Finally, the validity of the obtained results is shown by a numerical example.