Fully distributed event-triggered pinning group consensus control for heterogeneous multi-agent systems with cooperative-competitive interaction strength

This paper mainly studies the group consensus problem of the heterogeneous multi-agent systems with cooperative and competitive interactions and their strength among the agents. And both event-triggered mechanism and pinning control method are considered based on the system’s topology with connected components. Besides, the novel fully distributed event-triggered conditions which only contain the local information for each agent are designed. Then, some sufficient conditions and the corresponding pinning control strategies are obtained via using algebraic graph theory and Lyapunov stability theorem, which can guarantee the system to reach multiple group consensus. In addition, Zeno-behavior for each agent is strictly excluded by utilizing time-correlation function. Finally, several simulations illustrate that our findings and the proposed methods are effective. Moreover, the results show that the convergence rate of the system will increase with the appropriate change of the cooperative or competitive interaction or their strength.