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Observer-Based Dynamic Event-Triggered Semiglobal Bipartite Consensus of Linear Multi-Agent Systems With Input Saturation.

Observer-based dynamic event-triggered semiglobal bipartite consensus (SGBC) is investigated for linear multi-agent systems (MASs) with input saturation under a competitive network. Based on the estimated relative information and low-gain feedback technology, distributed dynamic event-triggered control (DETC) protocols are proposed for solving the observer-based SGBC problems for MASs under a fixed topology and a jointly connected topology, respectively. It is turned out that the SGBC of MASs can be achieved under the proposed protocols. By using gauge transformation and the Lyapunov theory, the bipartite consensus conditions are obtained. Moreover, Zeno behaviors will be excluded. Finally, two simulation examples are presented to verify the theoretical results efficiently.