Abstract: This paper deals with the problem of bipartite consistency in multi-agent control systems based on distributed event triggering. A coherent control protocol with a cooperative and competitive topology for achieving consensus among multi-agent systems is proposed, aiming to drive the system to converge to states with binary disagreement yet identical magnitudes. On the basis of graph theory and matrix theory, the problem of binary consensus in multi-agent systems is reformulated into a stability issue for closed-loop error systems. By establishing an appropriate Lyapunov function, the asymptotic stability of the closed-loop error system is validated. Moreover, event-triggering conditions are introduced for each agent to reduce control update frequencies and communication resource consumption. Additionally, it is demonstrated that there exists a strict lower bound for the time intervals between successive triggers for neighboring agents, thereby preventing Zeno phenomena. Finally, through simulation instances, the feasibility and effectiveness of the proposed method are verified.

Key words: multi-agent system, symbol graph, bipartite consensus, event-triggered