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<p>This paper investigates the two-channel dynamic event-triggered bipartite tracking problem for a class of non-affine multi-agent systems (MASs) with input delay. The objective is to design an efficient event-triggered mechanism to reduce the communication burden under cooperative-competitive interactions. Compared to existing results, a novel two-channel dynamic event-triggered mechanism is proposed, which not only completely avoids Zeno behaviour through the minimal interevent time, but also increases the flexibility of scheduling triggering instants through the dynamic rules. To better handle the input delay, an improved Pad<InlineEquation ID="IEq1"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="11071_2025_11385_Article_IEq1.gif" Format="GIF" Height="14" Rendition="HTML" Resolution="72" Type="Linedraw" Width="11" /> </InlineMediaObject> <EquationSource Format="TEX">\(\acute{e}\)</EquationSource> <EquationSource Format="MATHML"><math> <mover accent="true"> <mi>e</mi> <mo>´</mo> </mover> </math></EquationSource> </InlineEquation> approximation method is proposed that introduces infinitesimals to make the approximation equation equal, which improves the accuracy of the approximation. Based on Lyapunov stability theory, the performance of bipartite tracking is achieved, and all signals in the closed-loop system are bounded. Finally, simulation proves the effectiveness of the proposed control method.</p>

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Two-Channel Dynamic Event-Triggered Adaptive Bipartite Tracking Control of Multi-Agent Systems with Input delay

  • 期刊论文

  • 发表日期：

    2025年7月18日

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  • Xin Li,
  • Dakuo He,
  • Qiang Zhang,
  • Hailong Liu

摘要

This paper investigates the two-channel dynamic event-triggered bipartite tracking problem for a class of non-affine multi-agent systems (MASs) with input delay. The objective is to design an efficient event-triggered mechanism to reduce the communication burden under cooperative-competitive interactions. Compared to existing results, a novel two-channel dynamic event-triggered mechanism is proposed, which not only completely avoids Zeno behaviour through the minimal interevent time, but also increases the flexibility of scheduling triggering instants through the dynamic rules. To better handle the input delay, an improved Pad \(\acute{e}\) e ´ approximation method is proposed that introduces infinitesimals to make the approximation equation equal, which improves the accuracy of the approximation. Based on Lyapunov stability theory, the performance of bipartite tracking is achieved, and all signals in the closed-loop system are bounded. Finally, simulation proves the effectiveness of the proposed control method.