Periodic event-triggered bipartite containment control for nonlinear multi-agent systems with input delay

This paper studies the periodic event-triggered bipartite containment control problem of multi-agent systems with unmeasurable states and input delays. To deal with the system input delay problem, a Pade approximation technique is introduced. By utilising the sampled output of the system, a fuzzy state observer is constructed to estimate the unknown state. A periodic event-triggered mechanism is designed, which can effectively reduce the usage of communication resources. Compared with the traditional event-triggered control manner, a periodic event-triggered control manner only monitors the preset threshold condition at the sampling instant to determine whether to update the current control signal, which can automatically guarantee the minimum lower bound of the execution interval, avoiding the occurrence of Zeno behaviour. Stability analysis verifies that all signals in the closed-loop system are bounded, and the bipartite tracking error can converge to a small neighbourhood of the origin. Finally, a practical example further verifies the effectiveness of the designed control scheme.