Estimator‐Based Bipartite Adaptive Event‐Triggered Control for Multiagent Systems With Prescribed Performance

This article studies the bipartite tracking control problem for multi‐agent systems with a distributed event‐triggered estimator under prescribed performance. Firstly, a distributed estimator is developed, allowing agents not directly connected to the leader direct access to the desired consistency change trajectory. Meanwhile, a dynamic event‐triggered mechanism is introduced to eliminate the need for continuous monitoring of neighboring agents' information. Then, for the controller‐to‐actuator channel, an event‐triggered mechanism based on the error information is designed to save communication resources. Furthermore, a prescribed performance control method with a variety of adjustable preset and non‐monotonic boundaries is introduced into the design of the fuzzy adaptive controller, which avoids the process of redesigning the control after adjusting the boundaries. It is demonstrated that all signals in the closed‐loop systems are semiglobally uniformly ultimately bounded, and Zeno behavior is excluded in the event‐triggered process. Finally, simulation results validate the effectiveness of the proposed scheme.