For multi-agent systems with competitive and collaborative relationships, signed graph can more intuitively express the characteristics of their interactive networks. In this paper, the bipartite consensus is investigated for multi-agent systems with structurally balanced signed graph. In order to reduce actuation burden in dynamical network environment, the event-triggering strategy is applied to bipartite consensus protocol for the multi-agent systems. The triggered condition for each agent is designed by using its own information and transmitted information of its neighbors at sampling instant and make the number of triggers of the whole systems be reduced. Based on the distributed event-triggered control, some sufficient conditions are derived to guarantee the leaderless and leader-following bipartite consensus. Finally, some numerical examples are shown to demonstrate the effectiveness of the theoretical results.

对于具有竞争关系和协作关系的多主体系统，签名图可以更直观地表达其交互网络的特征。本文研究了具有结构平衡签名图的多智能体系统的二分共识。为了减轻动态网络环境中的驱动负担，将事件触发策略应用于多主体系统的二方共识协议。每个代理的触发条件是通过使用自己的信息和邻居在采样时刻的传输信息来设计的，从而减少了整个系统的触发次数。基于分布式事件触发的控制，得出了一些足够的条件以确保无领导者和遵循领导者的两方共识。最后，