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This work investigates fixed-time time-varying output formation–containment control of heterogeneous general multi-agent systems, which comprises one virtual leader, multiple leaders, and followers. First, fixed-time nonlinear control law is constructed, such that leaders can achieve time-varying output formation in a finite time. Meanwhile, leaders can track the virtual leader's output trajectory. Next, two complete distributed adaptive fixed-time observers are designed aiming to recover a convex hull. This is key to control issue in this paper. Further, nonlinear control law is constructed for followers, such that followers can move into the convex hull formed by multiple leaders. Finally, two examples are provided to verify the feasibility of the theoretical results. • Time-varying output formation–containment control of heterogeneous MASs is solved. • Novel adaptive fixed-time observers is proposed. • Fixed-time formation control law is proposed. • Fixed-time formation–containment control law is proposed. [ABSTRACT FROM AUTHOR]

This article investigates the bipartite consensus problem for linear multiagent systems by the event-triggered output feedback control scheme. Both cooperative interaction and antagonistic interaction between neighbor agents are considered. Assuming that the system states are not available for measurement, the state observer is thus proposed to settle this scenario. Then, a novel observer-based bipartite control scheme is developed on the basis of two event-triggering mechanisms. One is designed for the communication between neighbors and another is for controller updates. Different from the existing methods, the proposed control strategy does not need continuous updates, avoids continuous communication between neighbors, and is applicable for the signed communication topology. Moreover, we extend the results from the bipartite leaderless consensus to the bipartite leader-following consensus and the bipartite containment consensus. It is proven that the proposed controllers fulfill the exclusion of Zeno behavior in three consensus problems. Finally, three examples are provided to illustrate the feasibility of the theoretical results. [ABSTRACT FROM AUTHOR]

In this paper, the consensus problem for higher-order descriptor multi-agent systems (DMASs) with time-delays is investigated. Firstly, a distributed consensus protocol based on output feedback is proposed. Secondly, the state transformation is presented to convert the consensus problem into the stability problem. Based on the Lyapunov theory and the linear matrix inequality (LMI) method, sufficient conditions in terms of LMIs are derived to ensure that consensus of DMASs can be achieved. Moreover, the consensus problem for higher-order DMASs with delays is solved under two cases where interaction topologies are undirected and directed, which is more complicated and challenging. Finally, numerical simulations are provided to demonstrate the effectiveness of our results. [ABSTRACT FROM AUTHOR]

In this paper, the semi‐global bipartite output consensus problem of heterogeneous linear multi‐agent systems is studied. Compared with related works, both cooperative interactions and antagonistic interactions between agents are considered, and the input saturation on each follower is taken into account. First, two distributed finite‐time observers are designed to recover the leader's state. Particularly, the setting time can be independent of any initial states. Due to the antagonistic interactions, estimation values are the same as the leader's state in modulus but may not in sign. Then, the low‐gain feedback technique is used to develop the distributed control law for each follower. Moreover, we summarize a framework for solving the semi‐global bipartite output consensus problem of heterogeneous multi‐agent systems subject to input saturation. Finally, examples are given to illustrate the results. [ABSTRACT FROM AUTHOR]

This paper investigates the bipartite finite-time output consensus problem of heterogeneous linear multi-agent systems (HL-MASs) described by a directed signed graph. First, by combining the event-triggered mechanism and finite-time control, we propose a bipartite finite-time event-triggered observer (bipartite FT-ET observer) to estimate the leader's state. Triggering condition is presented by introducing a dynamic variable. Compared with conventional observer to solve the output consensus problem, exact estimation of the leader's state can be achieved by only intermitted communication among agents. Moreover, Zeno behavior can be avoided by choosing parameters appropriately. Then, we construct a finite-time controller based on bipartite FT-ET observer, such that the bipartite output consensus can be achieved in a finite time. Finally, an example is provided to illustrate the effectiveness of the results. [ABSTRACT FROM AUTHOR]

In this paper, the bipartite output consensus problem of heterogeneous linear multi-agent systems (HL-MASs) is investigated. Compared with related works, both the cooperative interactions and antagonistic interactions between agents exist. First, a novel distributed dynamic triggering observer is designed to recover the leader's state. In order to avoid verifying the dynamic triggering condition continuously, a monitoring scheme is proposed. Then, the communication cost can be reduced. Next, we solve the bipartite output consensus problem of HL-MASs by both state feedback and output feedback control laws. Moreover, detailed analysis on the dynamic event triggering condition is conducted. It is shown that the lower bound of inter-execution time is larger than zero, so Zeno behaviour is excluded. The choice of parameters involved in the dynamic event triggering condition is also analysed. Finally, examples are given for demonstration. • We consider the heterogeneous linear multi-agent systems with cooperative interactions and antagonistic interactions. • Bipartite output consensus problem is solved. • Dynamic triggering mechanism is applied to design observers. • Zeno behaviour is excluded. • The influences of parameters involved in dynamic triggering condition on the system behaviour is discussed. [ABSTRACT FROM AUTHOR]

Abstract In this paper, a self-triggered Model Predictive Control (MPC) scheme is proposed to solve the output consensus problem of heterogeneous linear Multi-agent Systems (MASs). First, a self-triggered condition is designed to determine the time for solving optimization problem of each agent. Then, a self-triggered MPC scheme is built. The scheme not only formulates the aperiodic control form, but also avoids the design of observers for each agent compared with conventional method. On the whole, the communication load and actuator burden can be reduced. Zeno behavior is excluded by detailed analysis. Moreover, parameters selection of the cost function is introduced and analysis of the scheme feasibility is conducted. Sufficient conditions are developed to guarantee the scheme feasibility. Finally, some simulation examples are given to demonstrate the effectiveness of the scheme. [ABSTRACT FROM AUTHOR]

In this paper, guaranteed-performance consensus (GPC) for descriptor nonlinear multi-agent systems (DNMASs) with a leader is studied. The interactions among followers are bidirectional for leader-following DNMASs. Firstly, one designs a novel distributed nonlinear consensus protocol based on state feedback to reach consensus for DNMASs. The performance function is constructed by state errors among agents, which is time integration of quadratic function. Secondly, not only are sufficient conditions presented for guaranteed-performance consensus to ensure the scalability of DNMASs based on the Riccati inequality, but also an upper bound of the cost function is derived. It is shown that the guaranteed-performance costs are dependent on initial states of agents. Moreover, the conclusions are extended to achieve the leaderless GPC. Finally, simulation examples are presented to demonstrate the effectiveness of theoretical results. [ABSTRACT FROM AUTHOR]