The Bipartite Edge-Based Event-Triggered Output Tracking of Heterogeneous Linear Multiagent Systems

This article focuses on the bipartite output tracking control for heterogeneous linear multiagent systems under the asynchronous edge-based event-triggered transmission mechanism. First, the distributed bipartite edge-based event-triggered compensator is established to estimate the state of the exosystem. The estimated state of the compensator is the same as the state of the exosystem in modulus and opposite in sign because of the existence of antagonistic communications. To be independent of the topology information, the adaptive compensator with an edge-based event-triggered mechanism is then established. And the observer is proposed to recover the unmeasurable system states. Then, the distributed control scheme based on the compensator and the observer is designed to address the bipartite output tracking problem. Moreover, the results in the signed fixed graph are extended to signed switching graphs. The Zeno behavior of each edge is ruled out. Finally, two numerical examples, one application example and one comparison example, are given to demonstrate the feasibility of the main theoretical findings.