Dynamic Event-Triggered Control for Lag Bipartite Consensus of Multiagent Systems With Signed Directed Topology

In this article, two kinds of dynamic event-triggered lag bipartite consensus (LBC) control problems for a linear multiagent system (MAS) with structurally balanced signed directed graph are tackled, that is, the cases with known agent state and with unknown agent state. For the former, based on an additional internal dynamic variable and the parametric Lyapunov equation (PLE), a dynamic event-triggered state-feedback control (DETSFC) protocol is devised, which not only does not exhibit the Zeno behavior but also can guarantee that the MAS realizes the LBC. Similarly, we further utilize the state observer and the dynamic event-triggered control (DETC) method to address the LBC for the MAS with unknown agent state. Finally, the double-integrator MAS and the linearized reduced-order aircraft are used to verify the advantages of the obtained theoretical results.