Bipartite Consensus Problems of Heterogeneous Multi-Agent Systems with Cooperative and Antagonistic Interactions

This article explores the distributed control issue within a heterogeneous signed multi-agent system, comprising both first-order and second-order integrator agents. It devises consensus protocols for an undirected communication topology within structurally balanced networks. Through the application of graph theory and Lyapunov methods, it establishes the necessary conditions for achieving consensus in networks characterized by both cooperative and competitive interactions. The theoretical results are corroborated by simulation experiments.