Distributed event-triggered bipartite consensus for multiple agents over signed graph topology

The aim of this paper is to address the bipartite consensus for multi-agent systems with directed and undirected graph topologies, using distributed event-triggered control under the assumption that the interactions of agents can be described by a weighted, signed, structurally balanced graph. In this paper, we present a distributed event-triggered control method, where the feedback control law is based on the information from its own latest observations and its neighbors´, to deal with the bipartite consensus under both undirected and directed topologies. It is proven that the single-integrator multi-agent systems can reach bipartite consensus under the trigger condition if the network topology is undirected and connected or directed and strongly connected. Some simulations are presented to illustrate the theoretical results.