Abstract

This paper addresses the bipartite consensus problem of general linear multi-agent systems, where cooperation and competition exist among agents. First, a fully distributed adaptive double dynamic event-triggered control protocol is designed under directed signed graphs. By combining adaptive technique with a double dynamic event-triggered mechanism, this protocol not only avoids reliance on global information of the system but also ensures intermittent communication and control signal updating. Secondly, the proposed control protocol is analyzed using graph theory and Lyapunov stability theory, demonstrating that it enables the multi-agent system to achieve bipartite consensus and proving the absence of Zeno behavior in the system. Due to the construction of two internal dynamic variables that couple system information, and the separate design of dynamic event-triggered mechanisms for communication and controller update based on these two variables, the proposed control algorithm has significant advantages in reducing communication overhead among agents and computational costs for the controllers. Finally, numerical simulations further validate the feasibility and effectiveness of the theoretical results.