Event-triggered Bipartite Consensus for Nonholonomic Multi-agent Systems

We investigate the event-triggered control of nonholonomic multi-agent systems and consider the cooperative-competitive interactions among agents. For multi-agent systems associated with undirected, connected, and structurally balanced topologies, we design both centralized and distributed control schemes to realize bipartite consensus in the states of the agents, i.e., final states with identical magnitude but opposite signs. The distributed dynamical event-triggered conditions are designed to be independent of continuous communication among neighbors, thereby saving considerable communication resources. Based on the Lyapunov stability and the algebraic graph theory, the bipartite consensus of the system is strictly proved and Zeno behavior is excluded. The simulation results verify the validity of the theoretical results.