Event-Triggered Control for Guaranteed-Cost Bipartite Formation of Multi-Agent Systems

This paper is concerned with event-triggered guaranteed-cost bipartite formation control of multi-agent systems with antagonistic interactions. In order to save the limited network communication bandwidth of multi-agent systems, event-triggered sampled-data transmission strategy is adopted. Event conditions are designed for both leader and followers to reduce the frequency of state transmission more effectively. According to the event-triggered sampled-data of the leader and followers, bipartite formation controllers are designed for followers. By using the event conditions and the Lyapunov method, the sufficient conditions for the realization of bipartite formation and guaranteed-cost bipartite formation are obtained in terms of linear matrix inequality, respectively. Finally, the effectiveness of the theoretical results is demonstrated by numerical examples.