Fully Distributed Dynamic Event-Triggered Pinning Cluster Consensus Control for Heterogeneous Multiagent Systems With Cooperative–Competitive Interactions
研究了异构多智能体系统在合作与竞争交互下的集群一致性问题，提出了一种不依赖全局信息的全分布式动态事件触发控制协议，能有效减少触发次数并避免Zeno行为。
In this article, the cluster consensus of heterogeneous multiagent systems is investigated via dynamic event-triggered and pining control strategies. Comprehensively considering the cooperative and competitive interactions among the agents, a novel cluster consensus control protocol is designed, and a class of fully distributed dynamic event-triggered laws that do not depend on the global information is proposed. Being distinct from the traditional static threshold value, a time-varying threshold value is introduced which can effectively reduce the trigger time. Meanwhile, some sufficient conditions are obtained theoretically by using Lyapunov stability theory and the pinning control strategy is addressed as well. Furthermore, it has also been shown that each agent can exclude Zeno behavior. Finally, two simulated examples are given to illustrate the correctness and validity of the proposed methods and our findings.