Abstract
In this paper, the distributed bipartite consensus problem of a set of general linear multi-agent systems with structural balanced symbolic graph is studied. The communication topology is the undirected topology. Different from the traditional multi-agent fault-tolerant consensus control, a bipartite consensus control protocol is designed for multi-agent systems with two states of competition and cooperation. To that end, a distributed extended state observer (ESO) and distributed bipartite consensus are designed based on relative neighbour information. Algebraic graph theory and Lyapunov stability theory are applied to make the bipartite consensus error and estimation error converge to zero under the action of the consistency control protocol, thus realizing consistency tracking. Finally, the effectiveness of the theoretical method is verified by a simulation example.KeywordsMulti-agent systemsBipartite consensusActuator faultsDistributed control protocolExtended state observer
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