Adaptive Dynamic Event-Triggered Bipartite Time-Varying Output Formation Tracking Problem of Heterogeneous Multiagent Systems

This article investigates the bipartite time-varying output formation tracking problem of heterogeneous linear multiagent systems with disturbances by adaptive dynamic event-triggered control. The goal is to make the outputs of all followers complete the preset formation configuration, and track the convex combination composed of the leaders' outputs at the same time. Distributed dynamic event-triggered compensator is first designed to estimate the convex combination of the leaders' states, where the internal variable is introduced into the dynamic event-triggered mechanism to dynamically adjust the threshold of each follower. Compared with the traditional static threshold, the time-varying threshold ensures larger adjacent triggering time intervals. Then, the output formation control law based on distributed compensator, compensation input and time-varying formation signal is proposed, where the compensation input provides a degree of freedom for the feasible formation set. Finally, two examples are introduced to verify the main results.