Bipartite Leader-Following Consensus of Nonlinear Switched Multiagent Systems Under Model-Depended Dynamic Event-Triggered Control

This article concerns the issue of bipartite leader-following consensus for a class of nonlinear switched multiagent systems. The novel model-depended distributed dynamic event-triggered protocols are constructed. Compared to the existing event-triggered rules, different event-triggered functions are designed for different system models to decrease the amount of calculation and communication, and nonnegative model-depended dynamic auxiliary variables are introduced to further enhance the triggering performance. Based on the event-triggered protocols, the novel distributed model-depended bipartite event-triggered control laws are presented, in which different models correspond to different controller gains to ensure better control performance. By employing the Lyapunov theory and the average dwell time method, bipartite leader-following consensus is guaranteed with a global exponential convergence rate. Besides, the Zeno phenomenon is ruled out. Finally, several numerical examples are performed to validate the feasibility and superiority of the proposed theory.