Abstract
This paper studies the bipartite consensus problem of multi-agent systems with intermittent interaction under signed directed graph. It is assumed that each agent receives its states information relative to its neighbors at the sampling time and updates the control input by using the states information, and the period of each agent updates control input is equal to a positive integer multiple of its sampling period. Cooperation and competition between agents are represented by positive and negative weights of edge respectively in the signed topology. The sufficient condition for achieving bipartite consensus is obtained by Shure-Cohen stability criterion, which reveals the relationship among sampling period, update control input period and controller gain of system. Finally, simulation tests show the bipartite consensus performances of agents under intermittent protocol and signed topology.
Highlights
The problems of cooperative control for multi-agent systems have been concerned widely by researchers at home and abroad because of its important significance both in theory and reality
Different from [39], with each agent’s update control input being a positive integer multiple of the sampling period, we consider the bipartite consensus of the multi-agent system with intermittent protocol under signed digraph
We find out the condition range of sampling period T when the system realizes bipartite consensus
Summary
The problems of cooperative control for multi-agent systems have been concerned widely by researchers at home and abroad because of its important significance both in theory and reality. Different from [39], with each agent’s update control input being a positive integer multiple of the sampling period, we consider the bipartite consensus of the multi-agent system with intermittent protocol under signed digraph. This paper, considers the bipartite consensus of the first-order multi-agent system under signed digraph. Theorem 2: Under the assumption of strong connectivity, if signed digraph G (A) is structurally balanced, the multiagent system (1) with protocol (2) achieves bipartite consensus asymptotically with m m maj = jaj > 0, j=1 j=1. By Lemma 3 and Schur-Cohen stability criterion, system (1) asymptotically achieves bipartite consensus under the protocol (2) if and only if (12) and (13) hold. Theorem 3: Under the assumption of strong connectivity, if signed digraph G (A) is structurally balanced, the multiagent system (1) with protocol (2) can achieve bipartite consensus.
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