Observer-Based-Semi-Global Bipartite Average Tracking of Saturated Discrete-Time Multi-Agent Systems via Dynamic Event-Triggered Control

This brief investigates observer-based semi-global bipartite average tracking (SGBAT) problems for saturated discrete-time multi-agent systems (MASs), whose aim is to design a discrete-time dynamic event-triggered control (DETC) protocol such that each agent can track bipartite mean value of multiple time-varying reference signals. Firstly, by using the auxiliary outputs of average signal estimator (ASE) and estimated states of agents, two discrete-time dynamic event-triggered mechanisms (DETMs) with decay factors are designed, respectively. Then, the discrete-time DETC protocol is proposed based on the two DETMs. By using low-gain feedback technology and Lyapunov stability theory, it is verified that the observer-based SGBAT can be achieved for discrete-time MASs with input saturation under the proposed DETC protocol. Finally, a simulation is displayed to validate the effectiveness of the proposed control protocol.