Bipartite Consensus Control of High-Order Multiagent Systems With Unknown Disturbances

In this paper, a bipartite consensus problem is considered for a high-order multiagent system with unknown disturbances and cooperative-competitive interactions. Two control strategies are proposed to guarantee bipartite consensus for two cases with and without an exogenous system (called leader for simplicity), respectively. Linearly parameterized approaches are applied to describe the time-varying unknown disturbances. Distributed adaptive laws are then designed for the unknown parameters in the disturbances. Adaptive consensus controllers are designed in a fully distributed fashion, which does not rely on any global information. Simulation results are presented to demonstrate the formation of bipartite consensus under the proposed adaptive control strategies.