This article studies the bipartite containment control problem for nonlinear multiagent systems (MASs) with input quantization over a signed digraph. The design objective is to provide an appropriate distributed protocol such that the followers converge to a convex hull containing each leader's trajectory as well as its opposite trajectory different in sign. Based on a nonlinear decomposition approach of input quantization, an event-triggered control scheme is developed via backstepping technique. A fuzzy observer is constructed to estimate unmeasurable states. Moreover, the bipartite containment control scheme for nonlinear MASs is designed. It is demonstrated that all signals in the closed-loop system are semiglobally uniformly ultimately bounded and Zeno behavior is excluded. Finally, a simulation example is given to verify the validity of the designed method.

中文翻译：

---

具有输入量化的多智能体系统的基于观察者事件触发的模糊自适应二分遏制控制


本文研究了非线性多智能体系统 (MAS) 的二分包含控制问题，其输入量化在有向图上。设计目标是提供适当的分布式协议，使追随者收敛到包含每个领导者轨迹及其符号不同的相反轨迹的凸包。基于输入量化的非线性分解方法，通过反步技术开发了事件触发控制方案。构造模糊观察器来估计不可测量的状态。此外，还设计了非线性MAS的二分遏制控制方案。证明了闭环系统中的所有信号都是半全局一致最终有界的，并且排除了 Zeno 行为。最后给出仿真算例验证了所设计方法的有效性。