Distributed bipartite consensus of linear multi-agent systems based on periodic event-triggered mechanism

This article considers the bipartite event-triggered consensus problem for linear multi-agent systems based on periodic sampling data. The cooperative and antagonistic communications are considered at the same time. The bipartite time-triggered consensus with maximum sampling period is first addressed. Then, the bipartite periodic event-triggered control strategy with two event-triggered mechanisms is designed. Compared with previous control schemes, the proposed control method can realize intermittent communication, intermittent controller update and intermittent triggering condition monitoring. Moreover, considering the constraint of limited data rate, a quantized consensus with both state and input quantization is taken into account. The Zeno behavior is completely avoided due to the fact that the sampling time can be taken as the lower bound of trigger interval. Finally, three illustrative examples are provided to demonstrate the effectiveness of the proposed methods.