Robust Bipartite Consensus and Tracking Control of High-Order Multiagent Systems With Matching Uncertainties and Antagonistic Interactions

This paper is concerned with general coopetition networks with signed graphs, based on which both the bipartite consensus and tracking control problems for networked systems subject to nonidentical matching uncertainties are studied. For the case of undirected and connected communication graphs, we propose a distributed discontinuous nonlinear controller which can achieve the bipartite consensus. To cancel the chattering phenomenon of the discontinuous controller, a continuous one is designed by using the boundary layer technique, under which the bipartite consensus error is shown to be uniformly ultimately bounded and can exponentially converge to a small adjustable bounded set. Further, considering the case of a leader having a bounded control action, we present a continuous controller to guarantee the ultimate boundedness of the bipartite tracking error.