Bipartite Tracking Consensus Control of Nonlinear High-Order Multi-Agent Systems Subject to Exogenous Disturbances

Abstract

This study concentrates on the bipartite tracking consensus for nonlinear high-order multi-agent systems(MASs) subject to exogenous disturbances over a signed directed graph. First, under the condition of nonlinear dynamics, two new control protocols are proposed to guarantee high-order bipartite tracking consensus under two cases with and without exogenous disturbances, respectively. Second, a disturbance observer is designed to estimate the external disturbances which originated from an external system. Third, to provide some efficient criteria for high-order bipartite consensus of MASs, we propose a novel pinning nodes selected scheme and get the lower bound of the pinning gains. Furthermore, by virtue of Lyapunov stability theory and graph theory, sufficient conditions for bipartite tracking consensus control of nonlinear high-order MASs subject to external disturbances are presented. Finally, simulations are performed for demonstration.INDEX TERMS MASs, bipartite consensus, high-order, exogenous disturbances.

Adaptive fully-distributed sign-consensus control approach for nonlinear multi-agent systems over a signed graph

“…Remark 2: By reviewing the literature (Jiang and Zhang, 2016; Jiang et al, 2016a, 2016b, 2017a, 2017b, 2018), it is found that the control for sign-consensus has been guaranteed in a group of linear agents under the static and dynamic control strategies. Likewise, control schemes for the nonlinear multi-agents undergoing signed communication graph have been investigated in the literature but for bipartite consensus problem (Ren et al, 2020, Wang et al, 2019, Yu et al, 2018, Zhang et al, 2020b). The bipartite consensus control design imposes a restriction on underlying communication graph to be structurally balanced along with directed spanning tree condition.…”

Bipartite consensus for a class of nonlinear multi-agent systems under switching topologies: A disturbance observer-based approach

“…Second, when considering the observer error between follower i and the leader, the requirement for state information of follower agent is relaxed, i.e., ni t ð Þ ¼ xi t ð Þ À s i x 0 t ð Þ, as we only require the state of the observer embedded in follower i. However, the state information of follower agent is necessary in existing related works [21,28,33]. Furthermore, our controllers could realize not only the common consensus but also the bipartite consensus involved with the competitive relationships between agents.…”

“…As an interesting issue continued from single systems, how to deal with exogenous disturbances, cyber-attacks and noises has received more and more attention recently [28]. In [29], the team-triggered fixed-time consensus control for a class of double-integrator agents under the uncertain disturbance was investigated.…”

“…Compared with some results using the full relative states of neighboring agents [9,28], two new distributed bipartite consensus control strategies based on output measurements are proposed, in which only the relative output information of neighboring agents is utilized. Also different from [1,16] that the dynamic of system state is linear, we consider a class of Lipschitz nonlinear condition, which is more significant from practical point of view.…”

Fully distributed quantized secure bipartite consensus control of nonlinear multiagent systems subject to denial-of-service attacks

“…The study on the dynamic behaviour of MASs over signed graphs can be traced back to the seminal work on linear systems, in which the authors investigated how the network structure determines whether the system converges to a collective agreement or a polarized scenario, termed bipartite consensus [14]. Concerning leader-follower networks, we mention leader-follower bipartite consensus under fuzzy sliding mode control [15], nonlinear dynamics [16], adaptive control [17], and observer-based control [18].…”