Bipartite Tracking Consensus of Second-Order Sampled-Data Multi-Agent Systems under Switching Topology

A bipartite tracking consensus problem is investigated in this paper for sampled-data second-order multi-agent systems under switching topology, where the speed of each agent is not required to be synchronized to zero value. First, the bipartite tracking consensus problem is transformed into a convergence problem of the product of infinite time-varying matrices. Then by utilizing the tools from graph theory and matrix analysis, a sufficient condition on the bipartite tracking consensus is derived. It is shown that the bipartite tracking consensus can be achieved under the proposed protocol through appropriately choosing control parameters. Finally, several simulation examples are illustrated for the effectiveness of the theoretical result.