Bipartite Output Consensus for Heterogeneous Multi-Agent Systems With Observer-Based Adaptive Event-Triggered Strategy

In this article, the bipartite output consensus problem is investigated for heterogeneous multi-agent systems with event-triggered transmission under a signed digraph. It is allowed that part of the followers have no knowledge of the leader generated by the exosystem. Two novel distributed adaptive bipartite observers are first constructed together with event-triggered mechanisms for each follower. Specifically, these two observers are effective to realize the asymptotic estimations of exosystem matrices and state without Zeno behavior. Based on the obtained observers, a distributed controller is further designed, where the solution pair of regulator equations is calculated adaptively by an improved approach. As a prominent feature, the proposed control strategy successfully eliminates the dependence on global information related to a signed digraph, while guaranteeing event-triggered bipartite output consensus. At last, an example is conducted to demonstrate the validity of control strategy.