Abstract This paper studies the bipartite formation problem of nonlinear multi‐agent systems with disturbances via a fully distributed event‐triggered control mechanism. First, an extended state observer is introduced to estimate the states of agents and unknown disturbances. Based on the estimated values, a control protocol with event‐triggered communication is constructed, which ensures bipartite formation with disturbance rejection. It is noteworthy that the control protocol is implemented in a fully distributed manner. Then, the fully distributed event‐triggered control protocol is further applied to leader‐follower multi‐agent systems, thereby achieving bipartite formation of MASs when tracking a leader. Finally, simulation examples are provided to illustrate the theoretical results.
Liu et al. (Thu,) studied this question.