Bipartite Time-Varying Output Formation Tracking for Multiagent Systems With Multiple Heterogeneous Leaders Under Signed Digraph

This article investigates the bipartite time-varying output formation tracking issue for heterogeneous linear multiagent systems with multiple leaders under signed digraph. Different from previous related works, the leaders are considered to be heterogeneous, which greatly increases the difficulty of designing distributed control strategies. To address this issue, we develop a novel fully distributed dynamic event-triggered formation tracking control strategy and the Zeno behavior is ruled out. Compared with previous relevant results, in addition to addressing a more meaningful new issue, the developed control strategy also has the following advantages: 1) the control strategy gets rid of this assumption that each given follower must be well informed or uninformed; 2) the adaptive gains do not increase unboundedly in the presence of external disturbances; 3) the interevent time is larger. Moreover, a self-triggered realization based on sampled information is also formulated for the developed control strategy. Finally, the theoretical result is demonstrated by a simulation example.