Event-triggered bipartite consensus for nonlinear multi-agent systems under switching topologies: A time-varying gain method |
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| Institution: | 1. School of Electronics and Communication Engineering, Sun Yat-sen University, Shenzhen, 518107 China;2. Guangxi Key Lab of Multi-source Information Mining & Security, Guangxi Normal University, Guilin, 541004 China;3. Shenzhen Key Laboratory of Navigation and Communication Integration, Shenzhen, 518107 China;1. Instituto Universitario de Matemática Multidisciplinar, Universitat Politècnica de València, Camino de Vera s/n, Valencia, 46022, Spain;2. Department of Statistics and Operational Research, Universitat de València, Dr. Moliner 50, Burjassot, 46100, Spain;1. College of Science, Binzhou University, Binzhou, 256600, Shandong, China;2. Institute of Complexity Science, School of Automation, Qingdao University, Qingdao 266071, China;1. Smart Mobility Research Section, Electronics and Telecommunications Research Institute (ETRI), Daegu 42994, South Korea;2. Department of Electronics Engineering, Chungnam National University, Daejeon 34134, South Korea;1. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;2. Department of College of Science, University of Shanghai for Science and Technology, Shanghai 200093, China |
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| Abstract: | In this paper, the event-triggered bipartite consensus problem is investigated for nonlinear multi-agent systems under switching topologies, only part of topologies contain directed spanning tree rooted at the leader. First, a dynamic bipartite compensator is constructed based on relative output information to provide control signal. Then, the time-varying gain method is adopted to propose a compensator-based event-triggered control protocol without Zeno behavior. Notably, the control protocol proposed achieves the bipartite consensus while reducing update frequency effectively. Moreover, a low conservative switching law is designed by the topology-dependent average dwell time strategy, which fully considers the differences among topologies and provides an independent average dwell time for each topology. As an extension, the nonlinear multi-agent systems with non-zero input of leader are further studied. Finally, a practical example is presented to demonstrate the feasibility of proposed control protocol. |
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