Dynamic Event-triggered Fixed-time Bipartite Average Consensus for Multi-agent Systems

This paper investigates a fixed-time bipartite average consensus issue for nonlinear multi-agent systems with switching topologies, external disturbances, and limited communication. First, the cooperation and competition issues between agents are analyzed using signed graph theory, and a fixed-time bipartite average consensus protocol is designed, eliminating the impact of initial states on convergence time. Second, a dynamic event-triggered strategy is introduced into the control protocol to lower communication frequencies. Then, by applying signed graph theory along with Lyapunov stability principles, it is shown that the system with switching topologies can attain fixed-time bipartite average consensus without Zeno behavior. Finally, several simulation studies confirm the effectiveness of the proposed method.