Bipartite Consensus of Heterogeneous Multi-Agents Under Input Saturation Over Signed Graphs

Abstract

This brief addresses the problem of bipartite consensus for linear multi-agent systems (MASs) with heterogeneous dynamics susceptible to input saturation over a signed graph under antagonistic interactions. Prior to extending the findings to directed signed graphs, a theoretical examination of the bipartite consensus for undirected signed graphs is conducted. Input saturation is addressed by using a generalized sector condition. With the aid of the Lyapunov theory, it has been shown that for the MASs with heterogeneous dynamics stability and bipartite consensus can be accomplished. To the best of our knowledge, a bipartite consensus control approach for heterogeneous MASs with input saturation nonlinearity, connected via directed signed graphs, has been considered for the first time. The validity of the given results is demonstrated by a numerical example.