Bipartite consensus tracking control for periodically-varying-delayed multi-agent systems with uncertain switching topologies

Abstract

This paper studies the bipartite tracking control problem for multi-agent systems (MASs). The purpose of this paper is to propose novel consensus criteria and further design the bipartite tracking controller subject to uncertain switching topologies and time delays. By constructing an improved monotone-delay-interval-based Lyapunov functional (MDIBLF), we establish lower conservatism consensus conditions than those of previous results. Moreover, the periodically-varying delay is considered in consensus tracking protocol for MASs. It is highlighted that a new zero equation is introduced to deal with the double integral term in the Lyapunov functional. And the quadratic function negative-determination lemma is not required in our method. Applying the proposed approach, we obtain a bipartite controller for the followers to track the leader. Finally, to demonstrate the superiority of the presented method, two simulation examples based on quadrotors and spacecraft formation flying model are introduced.