事件触发下多智能体系统固定时间二分一致性

针对具有符号有向图的一阶多智能体系统，研究了其固定时间二分一致性问题。为降低控制过程中多智能体系统的能量损耗，提出了一种基于事件触发机制的分布式控制协议。以图论和李雅普诺夫理论为主要研究工具，给出了多智能体系统在所设计控制协议作用下实现固定时间二分一致性的充分条件和与系统初始状态无关的收敛时间上界，并证明了使用该协议可以有效避免对智能体的连续控制和Zeno行为的发生。数值算例验证了所得理论结果的有效性。

Fixed-Time Bipartite Consensus of Multi-agent Systems via Event-Triggered Control

The fixed-time bipartite consensus problem is investigated for first-order multi-agent systems with signed directed graphs. To reduce the energy consumption in the control process, a distributed event-triggered control protocol is proposed. With designed protocol, graph theory and Lyapunov theory are utilized to derive sufficient conditions for fixed-time bipartite consensus. The upper bound of the convergence time is also provided, which is independent of the initial conditions. In addition, it is shown that the proposed event-triggered control scheme can avoid the continuous control of the agents and the Zeno behavior effectively. Finally, numerical examples are provided to verify the validity of obtained theoretical results.