Distributed leader-following bipartite consensus for one-sided Lipschitz multi-agent systems via dual-terminal event-triggered mechanism.

This article analyses leader-following bipartite consensus for one-sided Lipschitz multi-agent systems by dual-terminal event-triggered output feedback control approach. A distributed observer is designed to estimate unknown system states by employing relative output information at triggering time instants, and then an event-triggered output feedback controller is proposed. Dual-terminal dynamic event-triggered mechanisms are proposed in sensor-observer channel and controller-actuator channel, which can save communication resources to a great extent, and the Zeno behavior is ruled out. A new generalized one-sided Lipschitz condition is proposed to handle the nonlinear term and achieve bipartite consensus. Some stability conditions are presented to guarantee leader-following bipartite consensus. Finally, one-link robot manipulator systems are introduced to demonstrate the availability of the designed scheme. The results demonstrate that the agents of the robot manipulators can track the reference trajectories bi-directionally, and effectively reduce communication resources by 61.22% and 68.04% at the sensor-observer and controller-actuator channels, respectively.