Cluster consensus of high-order multi-agent systems in weighted coopetitive networks

This paper studies the consensus problem of high-order multi-agent systems in weighted coopetitive networks. In the entire communication process, each agent can cooperate or compete with its neighbors, and the intrinsic interaction properties of the agents determine the cooperative-competitive weights between agents. We propose two types of protocols, i.e. the state feedback protocol and the output feedback protocol, to solve the consensus problem in weighted coopetitive networks. It is proved that the system applying the proposed protocols asymptotically reaches cluster consensus under the given conditions. Finally, we propose several simulation examples to verify theoretical results.