Bipartite Tracking Consensus for Multi-agent Systems with Input Delays and Nonlinear Dynamics

Abstract

This article is devoted to the bipartite tracking consensus for multiagent systems with control input delay and nonlinear dynamics under directed signed graph. Based on the relative information of the agents' neighbors, a distributed control protocol is designed to make the systems achieve bipartite consensus in the presence of a single leader. For the sake of dealing with the nonlinear function, the reduction transformation is applied. Via Lyapunov stability theory, the sufficient conditions which guarantee the multiagent system reach bipartite consensus. And finally, the simulations are given to verify the effectiveness of the results in the paper.