Decentralised Event-Triggered Control of Multi-Agent Systems over Antagonistic Interactions

This paper studies the asynchronous decentralised bipartite consensus for multi-agent systems over antagonistic interactions using an event-triggered algorithm. A distributed nonlinear protocol is constructed to achieve bipartite consensus. Specially, when the antagonistic networks meet condition of structurally balanced, all agents reach an agreement characterized by an identical amplitude but opposite signs with dependence on the link weights. Moreover, using event-triggered strategies to reduce cost in communication and computation, a controller that is only updated at triggered instants determined by local information, is proposed. Note that bipartite consensus is implemented in enlarged sampling periods with absences of Zeno behaviour. Numerical results illustrate the effectiveness of the theoretical models.