Fixed-Time Bipartite Output Consensus of Heterogeneous Multi-agent Systems via Event-Triggered Intermittent Control

This paper considers fixed-time (FXT) bipartite output consensus (BOC) for heterogeneous multi-agent systems (MASs) under event-triggered intermittent control. Firstly, a form of FXT bipartite observation system with intermittent control is designed, in which the control intervals are determined according to auxiliary functions and an event-triggered mechanism. Utilizing Lyapunov stability analysis, we prove that the bipartite consensus between all observers and the leader can be reached within FXT. Secondly, considering the measurability of state information, both the state-dependent and output-dependent event-triggered sampling control strategies are proposed, and some sufficient conditions are derived to ensure the achievement of FXT BOC for heterogeneous MASs. In addition, this serves to demonstrate that Zeno behavior is avoidable. Finally, a numerical example is provided to verify the validity of the theoretical findings.