Bipartite event-triggered impulsive output consensus for switching multi-agent systems with dynamic leader

This paper studies the output consensus of heterogeneous switching linear multi-agent systems (LMASs). The considered switching topology in a signed graph is jointly connected. An event-triggered impulsive control algorithm is proposed, in which the event-triggered time sequence is allowed to be different from the impulsive sequence. Specifically, the leader’s control inputs in the LMASs model are allowed to be designed for the followers. In a fully distributed manner, a general compensator consisting of an impulsive and dynamic event-triggered mechanism is proposed to estimate the state of the leader. Based on the designed compensator and observer, a distributed control law is proposed to realize the bipartite output consensus by using an iterative method. Under the event triggering strategy, the combined measurement method is used, so that each agent only needs to update input information at the moment of its event triggering. Finally, our theoretical results are demonstrated through a numerical example.