Event-triggered Pinning Bipartite Tracking Consensus of the Multi-agent System Subject to Input Saturation

This paper focuses on the bipartite tracking consensus problem of the multi-agent system with cooperative-competitive interactions. In order to save resources, an event-triggered pinning scheme subjected to input saturation is designed. Suppose that the signed graph representing cooperative-competitive interactions is structurally balanced, and the initial states for the agents belong to the specified ellipsoid. By using Lyapunov theory and linear matrix inequality (LMI) techniques, some sufficient conditions are derived to ensure that the bipartite tracking consensus of the system under event-triggered pinning control can be achieved. Moreover, the bipartite tracking consensus of system with Lipschitz nonlinear dynamics is also investigated, and Zeno behavior can be excluded. Subsequently, numerical examples are provided to illustrate the effectiveness of the obtained results.