Adaptive Bipartite Hybrid Event-Triggered Output Consensus of Heterogeneous Uncertain Multiagent Systems Under Fixed and Switching Topologies
针对异构不确定多智能体系统，提出一种自适应二分混合事件触发控制机制，通过分布式输出反馈控制器解决固定与切换拓扑下的输出一致性问题，并用仿真验证有效性。
This study addresses the bipartite output consensus problem of heterogeneous uncertain multiagent systems (MASs) under hybrid event-triggered control mechanism. Initially, a fully distributed adaptive bipartite compensator is composed, which consists of time-varying coupling weights and hybrid event-triggered mechanism to estimate the state of the leader. The hybrid event-triggered mechanism includes the event-triggered mechanism for the leader and the edge-event triggered mechanism for all edges to reduce the information transmission among agents. Then, a novel distributed output feedback controller is put forward for uncertain system dynamics. With the aid of the proposed controller, the bipartite output consensus problem of heterogeneous uncertain MASs can be resolved. Furthermore, the above results can be extended to the case of switching topology. Lastly, the validity of the theoretical findings is confirmed through four simulation examples.