Bipartite output consensus of heterogeneous linear multi-agent systems by dynamic triggering observer

Abstract In this paper, the bipartite output consensus problem of heterogeneous linear multi-agent systems (HL-MASs) is investigated. Compared with related works, both the cooperative interactions and antagonistic interactions between agents exist. First, a novel distributed dynamic triggering observer is designed to recover the leader’s state. In order to avoid verifying the dynamic triggering condition continuously, a monitoring scheme is proposed. Then, the communication cost can be reduced. Next, we solve the bipartite output consensus problem of HL-MASs by both state feedback and output feedback control laws. Moreover, detailed analysis on the dynamic event triggering condition is conducted. It is shown that the lower bound of inter-execution time is larger than zero, so Zeno behaviour is excluded. The choice of parameters involved in the dynamic event triggering condition is also analysed. Finally, examples are given for demonstration.