LAUSR

This brief investigates the bipartite time-varying formation tracking control for multi-agent systems with cooperative-antagonistic interactions and external disturbances under event-triggered scheme. To deal with the external disturbances, an extended state observer is employed to illustrate the control protocol. Then, a time-varying formation control protocol is developed under event-triggered scheme to eliminate continuous communication, further reducing unnecessary computational cost successfully. Besides, Zeno behavior is verified to be excluded and convergence analysis of proposed protocol is demonstrated by the lights of Lyapunov stability theory. Finally, the effectiveness of the proposed protocol is indicated by a numerical simulation, where the agents realize two time-varying antagonistic sub-formations with disturbance rejection under event-triggered scheme.