Abstract
This letter studies the bipartite consensus control problem of networked Euler–Lagrange systems under directed network topology with the coexistence of positive and negative interaction weights. An adaptive bipartite consensus control law is proposed for solving bipartite consensus in networked Euler–Lagrange systems with uncertain parameters. By exploiting the specific structure of the Laplacian matrix associated with cooperation-competition networks, we introduce a novel coordinate transformation based on which the corresponding convergence analysis of closed-loop controlled systems is provided. Finally, simulations conducted on a network composed by seven two-link revolute joint manipulators are provided to illustrate the theoretical results.
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