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

Abstract

Regarding complex behaviors of multi-agent systems (MAS), this paper proposes control protocols to reach a bidirectional formation-involved (FI) consensus for MAS. It primarily considers the multiple Lagrange systems (MLS) with uncertain parameters. And bipartite topology communication networks. Then, the validity of control protocols and the stability of the MLS are confirmed by determining the consistency convergence of the Lyapunov functions. With the stabilized MLS, the first-order linear system is adopted as a leader to provide trajectory guidance. With bipartite topology, MLS performs the FI complex behavior with pairwise tracking motion. The experiment part provides sufficient simulation examples that are selected to be consistent with the systems in the theoretical part.