Yanan Qi, Rui Mu*, and Xianfu Zhang
International Journal of Control, Automation, and Systems, vol. 20, no. 8, pp.2483-2491, 2022

Abstract : In this paper, the leaderless consensus problem is considered for multi-agent systems under antagonistic interactions. Based on the sampled data, we propose an event-triggered mechanism to determine when the current state should be transmitted. This mechanism inherits the merits of both periodic and event-triggered transmission ways, thus reducing the energy consumption. Then, an event-triggered protocol is designed in a fully distributed manner to guarantee the consensus with the same magnitude but opposite sign. Different from the existing results, the designed protocol is implemented for a general digraph containing a spanning tree, and there is no restriction on the sampling period. Finally, the achievement of consensus and the validity of the obtained protocol are demonstrated by simulations.

Keyword : "Bipartite consensus, directed spanning tree, multi-agent systems, periodic event-triggered control. "

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