Adaptive robust bipartite consensus of high-order uncertain multi-agent systems over cooperation-competition networks

This paper investigates the bipartite consensus problem for a class of high-order uncertain multi-agent systems, whose dynamics consist of matched and unmatched parametric uncertainties as well as external disturbances, over cooperation-competition networks. The signed graph theory is introduced to describe collaborative and competitive interactions between agents. A distributed adaptive robust controller is proposed to solve the leaderless bipartite consensus problem first, and it is further shown that the leader-follower bipartite consensus problem can be also addressed by the proposed approach. Stability analysis demonstrates that the closed-loop system can be globally exponentially stable with a prescribed rate of convergence. Finally, simulation examples are provided to verify the theoretical results. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.