Semi-global bipartite consensus for heterogeneous multi-agent systems with input saturation

This paper focuses on the semi-global bipartite consensus problem for heterogeneous linear systems subject to input saturation. For each agent, we propose a reference generator and a bipartite consensus algorithm based on low gain approach. Notice that only local information and states of reference generator are used in the algorithm. It is shown that by using these algorithms, semi-global bipartite consensus can be reached when the multi-agent system’s communication topology is a weighted signed undirected graph. A numerical example is provided to validate theoretical result.