Bidirectional formation-involved consensus for uncertain multi-Lagrange systems under directed signed topology networks

Abstract

To better describe the complex behaviors of multi-agent systems (MAS), this paper proposes a bidirectional formation-involved(FI) consensus control method for multi-Lagrange systems (MLS). It primarily considers the Lagrange systems with uncertain parameters and employs the bipartite topology in communication network. Under bidirectional formation control, the validity of this control protocol and the stability of the MLS are verified, by determining the consistency convergence of the Lyapunov function of the systems. For the given stabilized MLS, the leader is added with firstorder linear system to provide trajectory guidance. With cooperative-competitive interactions, MLS perform the FI complex behavior considering trajectory tracking. The experiment part provides sufficient simulation examples that are selected to be consistent with the systems in the theoretical part.