Delays-Based Distributed Bipartite Consensus Control of Nonlinear Multiagent Systems With Switching Signed Topologies

This paper explores the distributed leader-following bipartite consensus control issue for nonlinear multiagent systems under switching signed topologies and communication delays. It is permitted that the signed topologies are switched with an average dwell-time condition, and the delays are modeled as the time-varying functions. In the permission, we develop a new dynamic output feedback control-based distributed bipartite consensus method. First, we put forward the delays-dependent distributed switched compensators to the followers, adopting the relevant output information, which are applied to asymptotically estimate the leader-following tracking errors and provide the control signals. Then, we construct the distributed output feedback switched controllers with the linear structure for all followers, which are dependent on the compensators. By utilizing the Lyapunov-Krasovskii functional analysis method, we verify that our proposed controllers can render the agents gaining the bipartite consensus if the switching signal of signed topologies fulfills an average dwell-time condition. Finally, two examples are executed in the simulation to confirm the validity of the given control strategy.