Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (21): 80-86.DOI: 10.3778/j.issn.1002-8331.2010-0170

Previous Articles     Next Articles

Fixed-Time Bipartite Consensus of Multi-agent Systems via Event-Triggered Control

LI Zhentao, FENG Yuanzhen, WANG Zhengxin   

  1. School of Science, Nanjing University of Posts and Telecommunications, Nanjing 210023, China
  • Online:2021-11-01 Published:2021-11-04



  1. 南京邮电大学 理学院,南京 210023


The fixed-time bipartite consensus problem is investigated for first-order multi-agent systems with signed directed graphs. To reduce the energy consumption in the control process, a distributed event-triggered control protocol is proposed. With designed protocol, graph theory and Lyapunov theory are utilized to derive sufficient conditions for fixed-time bipartite consensus. The upper bound of the convergence time is also provided, which is independent of the initial conditions. In addition, it is shown that the proposed event-triggered control scheme can avoid the continuous control of the agents and the Zeno behavior effectively. Finally, numerical examples are provided to verify the validity of obtained theoretical results.

Key words: first-order multi-agent system, signed directed graph, event-triggered mechanism, fixed-time bipartite consensus



关键词: 一阶多智能体系统, 符号有向图, 事件触发机制, 固定时间二分一致性