Fully Distributed State Feedback Controller Design for Bipartite Consensus Tracking of Lipschitz Nonlinear Systems over Directed Topology

This paper studies the bipartite consensus problem for general nonlinear multi-agent systems over directed cooperative-competitive network. By introducing a Lipschitz-like assumption on the nonlinearity, a state feedback controller with PI gains is designed for bipartite consensus achievement. The designed controller dosen't required any global information, which is in a fully distributed way. A numerical example is presented to support the main result of this paper.