This paper studies the bipartite consensus problem of multi-agent systems with intermittent interaction under signed directed graph. It is assumed that each agent receives its states information relative to its neighbors at the sampling time and updates the control input by using the states information, and the period of each agent updates control input is equal to a positive integer multiple of its sampling period. Cooperation and competition between agents are represented by positive and negative weights of edge respectively in the signed topology. The sufficient condition for achieving bipartite consensus is obtained by Shure-Cohen stability criterion, which reveals the relationship among sampling period, update control input period and controller gain of system. Finally, simulation tests show the bipartite consensus performances of agents under intermittent protocol and signed topology.INDEX TERMS Multi-agent systems, intermittent interaction, bipartite consensus, positive and negative weights, Shure-Cohen stability criterion.

In this paper, event-triggered leader-following consensus of general linear multiagent systems under both fixed topology and switching topologies is studied. First, centralised and decentralised event-triggered control strategies based on neighbors' state estimation are proposed under fixed topology, in which the controller is only updated at the time of triggering. Obviously, compared with the continuous time control algorithms, the event-triggered control strategies can reduce the communication frequency among agents effectively. Meanwhile, event-triggering conditions are derived for systems to achieve consensus by using the Lyapunov stability theory and model transformation method. en, the theoretical results obtained under the fixed topology are extended to the switching topologies, and the sufficient conditions for the system to achieve leader-following consensus under the switching topologies are given. However, different from fixed topology, the control input of each agent is updated both at event-triggering and topology switching time. Finally, Zeno behaviors can be excluded by proving that the minimum triggering interval of each agent is strictly positive, and the effectiveness of the event-triggered protocol is verified by simulation experiments.

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