Bipartite leader-following consensus of linear multi-agent systems with unknown disturbances under directed graphs by double dynamic event-triggered mechanism

Abstract

This paper addresses the bipartite leader-following consensus problem for general linear multi-agent systems (MASs) with unknown disturbances under directed communication topology. A novel control strategy is proposed to effectively mitigate disturbances and reduce unnecessary triggering actions, thereby conserving resources. The strategy consists of double dynamic event-triggered mechanisms (DDETM) that operate independently: one governs inter-agent communication, while the other determines controller updates. To prevent Zeno behavior, additional constants are introduced into the triggering mechanisms. Moreover, a simplified parameter selection method is developed, eliminating the need for verifying solutions to specific matrix inequalities. Finally, comprehensive simulation experiments are conducted to demonstrate the effectiveness and practicality of the proposed approach.