Semi‐global bipartite output consensus of heterogeneous multi‐agent systems subject to input saturation by finite‐time observer

Abstract

In this paper, the semi‐global bipartite output consensus problem of heterogeneous linear multi‐agent systems is studied. Compared with related works, both cooperative interactions and antagonistic interactions between agents are considered, and the input saturation on each follower is taken into account. First, two distributed finite‐time observers are designed to recover the leader's state. Particularly, the setting time can be independent of any initial states. Due to the antagonistic interactions, estimation values are the same as the leader's state in modulus but may not in sign. Then, the low‐gain feedback technique is used to develop the distributed control law for each follower. Moreover, we summarize a framework for solving the semi‐global bipartite output consensus problem of heterogeneous multi‐agent systems subject to input saturation. Finally, examples are given to illustrate the results.

Bipartite output regulation for singular heterogeneous multi‐agent systems on signed graph

“…For structurally balanced signed graph, [15] first mentioned a concept of bipartite consensus, in which a unique value is achieved in modulus but not in sign. From then on, some representative works on bipartite consensus emerge, which can be found in [16][17][18]. Instead of solving conventional output consensus issue in heterogeneous MASs, [16] addressed output bipartite consensus problem by a triggering observer, where collaboration and competition relationships between agents are considered.…”

Bipartite consensus tracking for antagonistic topologies with leader's unknown input

“…Two types of interactions such as cooperation and competition can be found in social relationships, and the bipartite consensus [21] is then raised. Afterwards, the bipartite consensus attracts broad attention, and a good many results arise for recent while [22][23][24][25][26][27][28][29][30][31][32][33][34][35][36][37][38][39][40]. Meng et al achieved the bipartite consensus in finite time [22].…”

“…The bipartite consensus with unknown disturbances was developed of linear systems with undirected graph [32], and this result was extended to directed graph in [33]. Input saturation was explored in [34,35] for general linear systems and heterogeneous systems. Robust stability was discussed in [36] for heterogeneous systems.…”

Leader–follower consensus for multi‐agent systems with external disturbances generated by heterogeneous nonlinear exosystems

“…In recent years, the study of cooperative control for multi‐agent systems has drawn significant attention from numerous researchers, mainly due to its tremendous applications in consensus, flocking, formation, and so on [1–6]. As a fundamental coordination task, consensus control aims to design distributed consensus protocols via local state or output information to guarantee that a network of agents can achieve a global agreement.…”