Bipartite Consensus for Second-Order Multi-Agent Systems over Nonidentical Signed Graphs

Abstract

In this paper, second-order multi-agent systems are considered with nonidentical topologies that are described by different signed graphs. Sign-consistency of signed graph pairs is defined and a frequency-domain approach is proposed to analyse the convergence of multi-agent systems. It is shown that given the sign-consistency of nonidentical signed graphs and the connectivity of their union, the multi-agent systems will reach bipartite consensus (respectively, stability) if and only if the union is structurally balanced (respectively, unbalanced). Simulation examples are involved to demonstrate the validity of the obtained results.