Event-based network consensus with antagonistic interactions and communication delay
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The Institution of Engineering and Technology 2019. In this study, the consensus problem is investigated for the multi-agent systems with antagonistic interactions and communication delay under the event-triggered control protocol. For the directed signed networks, an event-based interaction protocol is first proposed. Then it is shown that with the proposed protocol, bipartite consensus can be realised for the structurally balanced signed networks with distributed communication delay. As for the structurally unbalanced signed networks with communication delay, it is proved that consensus can also be reached under the proposed event-triggered scheme and the final consensus value is zero. It should be emphasised that the proposed event-triggered controllers depend only on the local information. Furthermore, Zero phenomenon can be excluded, and the positive lower bound of the inter-event times is simultaneously provided. Finally, the effectiveness of proposed event-triggered schemes is demonstrated by one numerical example.