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Bipartite tracking consensus for asynchronous second‐order multiagent systems with event‐triggered mechanism
Author(s) -
Xia Hong,
Cao Mengtao,
Xu Ziqiang
Publication year - 2020
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5296
Subject(s) - bipartite graph , asynchronous communication , computer science , protocol (science) , multi agent system , convergence (economics) , consensus , tracking error , graph , graph theory , event (particle physics) , directed graph , theoretical computer science , mathematical optimization , mathematics , algorithm , control (management) , artificial intelligence , computer network , combinatorics , medicine , physics , alternative medicine , pathology , quantum mechanics , economics , economic growth
Summary This article is concerned with event‐triggered bipartite tracking consensus under an asynchronous sampling setting, where the event‐triggering condition for each agent is allowed to be intermittently examined at its own sampling instants. First, a novel distributed protocol based on independent sampling period is presented, with which the bipartite tracking consensus issue can be transformed into the convergence problem of the augmented error system. Then, with the help of tools from graph theory and matrix analysis, a sufficient condition on the bipartite tracking consensus is derived. By appropriately choosing control parameters, it is shown that the bipartite tracking consensus can be achieved under the proposed protocol for the graph that contains a directed tree and the subgraph among followers is structurally balanced. Finally, numerical simulations are provided to verify the theoretical results.