Bipartite Consensus of Heterogeneous Multi-agent Systems Based on Event-triggered Control and Cooperative-competitive Relation

In this paper, event-triggered scheme is proposed to solve the problem of bipartite consensus for a class of heterogeneous multi-agent systems with cooperative-competitive relation and structurally balanced directed topology. In this event mechanism, the update of the controller is only related to threshold and measurement error. To avoid Zeno phenomenon, we introduce an exponential function in the threshold. By applying differential equation, gauge transformation and Lyapunov theory, the problem of bipartite consensus can be converted into corresponding stability problem. Some sufficient conditions are obtained to ensure the success of the bipartite consensus. Several numerical examples are given to show the effectiveness of the achieved results.