Event-based discrete-time multi-agent consensus over signed digraphs with communication delays |
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Authors: | Lulu Li Jianquan Lu Daniel WC Ho |
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Institution: | 1. School of Mathematics, Hefei University of Technology, Hefei 230009, China;2. School of Mathematics, Southeast University, Nanjing 210096, China;3. Department of Mathematics, City University of Hong Kong, Hong Kong, China |
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Abstract: | The ability to ensure the desired performance of the cooperative-antagonistic multi-agent networks (MANs) in the presence of communication constraints is an important task in many applications of real systems. In this paper, under the proposed event-triggered condition (ETC), different types of consensus are obtained under different network topology. We concentrates on the event-based bipartite consensus. It is shown that under the proposed ETC (i) the addressed cooperative-antagonistic network with arbitrary communication delays reaches bipartite consensus provided that the network is balanced; (ii) the network model reaches zero if the network is unbalanced. Further, to avoid the continuously verifying the triggering condition, a self-triggered algorithm is proposed for realizing the bipartite consensus of the network model. A numerical example is given to illustrate the effectiveness of the theoretical results. |
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Keywords: | Corresponding author |
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