Bipartite Consensus for Multiagent Systems via Event-Based Control

Abstract

This paper studies bipartite consensus for first-order multiagent systems. To improve resource utilization, event-based protocols are considered for bipartite consensus. A new type of control gain is designed in the proposed protocols. By appropriate selection of control gains, the convergence rate of the closed-loop system can be adjusted. Firstly, for structural balance case, necessary and sufficient conditions are given on communication relations and consensus gains to achieve bipartite consensus. Secondly, for structural unbalance case, necessary and sufficient conditions are proposed to ensure the stabilizing of the system. It can be found that the system will not show Zeno behavior. Numerical simulations are used to demonstrate the theoretical results.

Event‐triggered control for bipartite consensus and formation of multiple wheeled mobile robots with non‐holonomic constraint

“…From then, event-triggered control is applied to fix bipartite consensus problems. The authors in previous studies [31,32] presented centralized event-triggered control to achieve bipartite consensus of multi-agent systems. Nevertheless, the centralized control scheme is not conducive to resource utilization.…”