The event-triggered bipartite consensus problem of linear multi-agent systems with a connected structurally balanced signed graph is considered in this paper. The state observer is set to estimate the actual states of the system. In the system structure, two event-triggered mechanisms are configured for each agent. The one is placed in the output side of the agent and the other in the controller. Thus the establishment of the state observer is based on the discrete output information sampled at the corresponding triggering time instants. And the inter-neighboring transmission of the observed states occurs at the moments when the corresponding triggering condition of the agent is satisfied. The triggering conditions designed do not rely on continuous inter-neighboring communications. With the help of the algebraic graph theory and Lyapunov stability theory, it is proved that the bipartite consensus can be achieved. Furthermore, Zeno behavior can be avoided in both sides. The effectiveness of the presented control strategy is demonstrated by a numerical simulation.

中文翻译：

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基于观察者事件触发的线性多代理系统二部共识

本文考虑了具有连接的结构平衡符号图的线性多智能体系统的事件触发的二部共识问题。状态观察器被设置为估计系统的实际状态。在系统结构中，为每个代理配置了两个事件触发机制。一个放置在代理的输出端，另一个放置在控制器中。因此，状态观测器的建立基于在相应触发时刻采样的离散输出信息。而观察到的状态的邻域间传输发生在agent相应的触发条件满足的时刻。设计的触发条件不依赖于连续的邻域间通信。借助代数图论和李雅普诺夫稳定性理论，证明可以实现二部共识。此外，双方都可以避免芝诺行为。数值模拟证明了所提出的控制策略的有效性。