Fully Distributed Observer-Based Dynamic Double-Event-Triggered Bipartite Consensus Tracking of Fractional-Order Multi-Agent Systems with Input Saturation

This paper investigates the fully distributed observer-based dynamic double-event-triggered bipartite consensus tracking problem of fractional-order multi-agent systems (FOMASs) with input saturation under a directed graph. First, to address this complex challenge, a pull-based dynamic double-event-triggered mechanism (DDETM) with different event-triggered conditions and capable of operating independently is designed, which can effectively reduce communication costs and controller updates concurrently. Then, the low-gain feedback technique is used to solve the input saturation problem faced by FOMASs under a directed graph. Based on the estimated state information, a fully distributed control protocol with pull-based DDETM is proposed to ensure the achievement of bipartite consensus tracking for FOMASs. A noteworthy feature of this control protocol is its ability to achieve system stability without the need for global information. Correspondingly, the sufficient conditions for achieving bipartite consensus is obtained with the help of low gain feedback technology and Lyapunov stability theory. Moreover, the Zeno behavior is precluded. Finally, a simulation example is presented to illustrate the theoretical results.