The prescribed-time bipartite consensus control problem for linear coop-erative-competitive multi-agent systems(MAS)based on the event-triggered mecha-nism is studied considering the possible external disturbances.Firstly,a disturbance observer is designed to estimate the external disturbances to the system,and an event-triggered condition is given for each agent to reduce the communication fre-quency between agents and save the limited communication network resources,while proving to avoid the Zeno phenomenon.Secondly,in order to explicitly pre-allocate the settling time,a prescribed-time event-triggered control protocol in a cooperative and competitive topology is designed in conjunction with the estimated value of the disturbance observer to ensure that all agents achieve bipartite consensus despite ex-ternal disturbances.Finally,the feasibility and effectiveness of the proposed method are verified using simulation examples.
关键词
二分一致性/干扰观测器/事件触发机制/规定时间
Key words
Bipartite consensus/disturbance observer/event-triggered mechanism/prescribed time
维普
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