Open Access

ARTICLE

Fixed-Time Bipartite Formation of Multi-Agent Systems Using Dynamic Event-Triggered Scheme

Longquan Ma¹, Huarong Zhao^1,*, Liqin Zhou¹, Linbo Xie^1,*, Hongnian Yu²

1 Engineering Research Center of Internet of Things Applications Ministry of Education, Jiangnan University, Wuxi, China
2 School of Computing, Engineering and the Built Environment, Edinburgh Napier University, Edinburgh, UK

* Corresponding Authors: Huarong Zhao. Email: ; Linbo Xie. Email:

(This article belongs to the Special Issue: Control Theory and Application of Multi-Agent Systems)

Computers, Materials & Continua 2026, 87(3), 57 https://doi.org/10.32604/cmc.2026.075679

Received 06 November 2025; Accepted 10 February 2026; Issue published 09 April 2026

Abstract

This paper studies a sampling-based dynamic event-triggered fixed-time bipartite formation algorithm for a class of continuous-time multi-agent systems with communication constraints. First, a periodic sampling mechanism is designed to reduce the system’s communication frequency. Then, a dynamic event-triggered control algorithm based on auxiliary variables is developed for sampled-data systems to further reduce the system’s triggering frequency. Next, to enhance the convergence speed of the dynamic event-triggered control method, a dynamic event-triggered fixed-time bipartite formation control scheme is investigated. Finally, using Lyapunov stability theory, signed graph theory, and relevant inequalities, a rigorous theoretical proof of the stability of the proposed control protocol is provided, and the algorithm’s effectiveness is verified through simulation experiments.

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Keywords

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