Research on Dynamic Event-Triggered Bipartite Consensus of Multi-Agent System with a Multi-Rate Sampling Mechanism
Aiming at a Multi-Agent System(MAS)with a detail-balanced antagonistic interaction structure,this study investigates the dynamic event-triggered bipartite consensus problem with a multi-rate sampling mechanism.First,the timing mismatch problem of the multi-rate sampling mechanism is solved by constructing a multi-rate buffer.Moreover,a class of multi-rate observers is designed to obtain the estimated state of the system to achieve the control objective.Second,by introducing a dynamic event-triggered mechanism,the multi-rate observer broadcasts its state data to the neighboring agents in the communication network at event-triggered instants.Each agent uses a set of open-loop estimators to obtain continuous agent state estimates based on the observer states at trigger instants.Next,a distributed control protocol is designed.Using the algebraic Riccati equation and the Lyapunov stability theory,it has been proven that MASs can achieve a bipartite consensus in a communication network with a detail-balanced structure.Furthermore,the Zeno behavior that the dynamic event-triggered mechanism may have caused is excluded.Finally,a simulation comparison,including three different sampling mechanisms and control schemes,is provided to illustrate the effectiveness of the proposed control scheme.It is shown that the multi-rate sampling mechanism has a faster and more stable convergence performance than the traditional single-rate sampling mechanism,and the dynamic event-triggered mechanism can further reduce the number of triggers compared with the static event-triggered mechanism.
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