This article is concerned with event‐triggered bipartite tracking consensus under an asynchronous sampling setting, where the event‐triggering condition for each agent is allowed to be intermittently examined at its own sampling instants. First, a novel distributed protocol based on independent sampling period is presented, with which the bipartite tracking consensus issue can be transformed into the convergence problem of the augmented error system. Then, with the help of tools from graph theory and matrix analysis, a sufficient condition on the bipartite tracking consensus is derived. By appropriately choosing control parameters, it is shown that the bipartite tracking consensus can be achieved under the proposed protocol for the graph that contains a directed tree and the subgraph among followers is structurally balanced. Finally, numerical simulations are provided to verify the theoretical results.

中文翻译：

---

具有事件触发机制的异步二阶多主体系统的双向跟踪共识

本文涉及异步采样设置下的事件触发的双向跟踪共识，在这种情况下，允许在每个代理的采样瞬间间歇检查每个代理的事件触发条件。首先，提出了一种基于独立采样周期的新型分布式协议，该协议可以将双向跟踪共识问题转化为扩充误差系统的收敛问题。然后，借助图论和矩阵分析的工具，得出了二部跟踪共识的充分条件。通过适当地选择控制参数，示出了二分跟踪共识可以提出的协议下实现为包含有向树和追随者之间的子图在结构上被平衡的曲线图。最后，