Dynamic event-triggered impulsive control for multi-grouped heterogeneous multi-agent systems with cooperation-competition

In this paper, the consensus problem of multi-group heterogeneous multi-agent systems under cooperation-competition networks is considered and a dynamic event-triggered impulsive control strategy is designed. In order to reduce the number of controller updates, a hyperbolic tangent function is introduced and a new dynamic event-triggered mechanism is proposed. Secondly, a multi-group event-triggered impulsive controller is proposed by considering the cooperation-competition mechanism among heterogeneous agents. Then, it′s proved that the multi-group heterogeneous multi-agent system achieves consensus and the dynamic event-triggering mechanism does not have the Zeno behavior. Finally, the effectiveness of the designed controller is verified through comparative simulation.