Gain Scheduling Control for Bipartite Consensus of Multi-Agent Systems with Actuator Saturation

This paper studies the bipartite consensus problem of multi-agent systems with actuator saturation. Firstly, assume that each agent system is asymptotically null controllable with bounded controls (ANCBC). Their communication topology is a signed directed graph, which is structurally balanced and contains a spanning tree. Secondly, a discrete gain scheduling method is proposed based on the invariant set (ellipsoid) theory. Then, the discrete-time switching control law of multi-agent systems is designed by using the parametric Lyapunov equation method, and the dynamic performance of multi -agent systems is improved by discrete switching parameters. In addition, the convergence of the system is analyzed based on Lyapunov theory. Finally, simulation results show the effectiveness of the proposed feedback law.