Asymmetric Bipartite Consensus of Nonlinear Agents with Communication Noise

Abstract

In this paper, the asymmetric bipartite consensus problem of a nonlinear multi-agent system is solved using Distributed Nonlinear Dynamic Inversion (DNDI) based controller. The application of DNDI is new in the context of asymmetric bipartite consensus, and it inherits all the advantages of NDI and works efficiently to solve the asymmetric bipartite problem. The mathematical details presented provide theoretical proof of its efficiency. A realistic simulation study is performed to establish the claims. The controller’s performance has been tested in the presence of communication noise, and the results are promising.