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Volume 10 Issue 3
Mar.  2023

IEEE/CAA Journal of Automatica Sinica

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J. Q. Liang, X. H. Bu, L. Z. Cui, and  Z. S. Hou,  “Event-triggered asymmetric bipartite consensus tracking for nonlinear multi-agent systems based on model-free adaptive control,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 3, pp. 662–672, Mar. 2023. doi: 10.1109/JAS.2022.106070
Citation: J. Q. Liang, X. H. Bu, L. Z. Cui, and  Z. S. Hou,  “Event-triggered asymmetric bipartite consensus tracking for nonlinear multi-agent systems based on model-free adaptive control,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 3, pp. 662–672, Mar. 2023. doi: 10.1109/JAS.2022.106070

Event-Triggered Asymmetric Bipartite Consensus Tracking for Nonlinear Multi-Agent Systems Based on Model-Free Adaptive Control

doi: 10.1109/JAS.2022.106070
Funds:  This work was supported in part by the National Natural Science Foundation of China (U1804147, 61833001, 61873139, 61573129), the Innovative Scientists and Technicians Team of Henan Polytechnic University (T2019-2), and the Innovative Scientists and Technicians Team of Henan Provincial High Education (20IRTSTHN019)
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  • In this paper, an asymmetric bipartite consensus problem for the nonlinear multi-agent systems with cooperative and antagonistic interactions is studied under the event-triggered mechanism. For the agents described by a structurally balanced signed digraph, the asymmetric bipartite consensus objective is firstly defined, assigning the agents’ output to different signs and module values. Considering with the completely unknown dynamics of the agents, a novel event-triggered model-free adaptive bipartite control protocol is designed based on the agents’ triggered outputs and an equivalent compact form data model. By utilizing the Lyapunov analysis method, the threshold of the triggering condition is obtained. Subsequently, the asymptotic convergence of the tracking error is deduced and a sufficient condition is obtained based on the contraction mapping principle. Finally, the simulation example further demonstrates the effectiveness of the protocol.


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    • An asymmetric bipartite consensus control for the multi-agent systems is studied, where it aims to drive the agents at an agreement that different modulus and signs under the cooperative and antagonistic interactions
    • An event-triggered MFAC data-driven protocol is proposed for the completely unknown nonlinear multi-agent systems in an asynchronous triggering way
    • An asymmetric coefficient related sufficient condition and a requirement on signed digraph that out-degree not lager than in-degree are derived for the system convergence


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