Dynamic Event-Triggered Bipartite Output Consensus for Heterogeneous Multi-Agent Systems Under Signed Digraphs

In this brief, the bipartite output consensus (BOC) problem is studied by dynamic event-triggered control for heterogeneous multi-agent systems under signed digraphs. A novel fully distributed control protocol, containing an observer-based adaptive controller and a Zeno-free dynamic event-triggered mechanism (ETM), is provided to guarantee the asymptotic convergence of BOC errors. Notably, an internal dynamic variable is introduced in the ETM to prolong interevent time intervals, which further reduces consumption on transmission. In addition, it is worth pointing out that the provided protocol remains valid even if global information about signed digraphs is unavailable. Finally, a numerical example is taken to demonstrate the effectiveness of protocol.