A new approach using multiple Lyapunov functions for bipartite consensus of multi-agents over directed switching signed graphs |
| |
| Affiliation: | 1. School of Electrical and Computer Engineering, RMIT University, Melbourne, Victoria 3001, Australia;2. Department of Automation, School of Power and Mechanical Engineering, Wuhan University, Wuhan 430072, China;3. Texas A&M University at Qatar, PO Box 23874 Doha, Qatar;4. Key Laboratory of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Nanjing 210096, PR China;1. College of Mathematical Sciences, Harbin Engineering University, Harbin 150001, China;2. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China;1. Department of Mathematics, Huizhou University, Guangdong 516007, China;2. School of Automation, Key Laboratory of Image Processing and Intelligent Control, Huazhong University of Science and Technology, Hubei 430074, China;1. The School of Automation, Nanjing University of Science and Technology, Nanjing210094, China;2. The Institute of Engineering and Technology, Hubei University of Science and Technology, Xianning 437100, China |
| |
| Abstract: | This paper investigates a new approach for the bipartite (cooperative–competitive) consensus control design for a class of nonlinear agents with Lipschitz dynamics under directed switching topologies. The design technique utilizes multiple Lyapunov functions (MLFs), inequality-based criteria, and average dwell-time (ADT) for switching instances to develop relaxed and less conservative constraints. The results are derived for structurally balanced signed graphs which switch among different configurations with persistent or frequent directed spanning tree (DST), rooted at the leader node. Further, results are also investigated for the dynamic leader agent with non-zero norm-bounded control input. To the best of our knowledge, bipartite consensus of a generic form of Lipschitz nonlinear agents under directed switching topologies has been addressed for the first time. In addition, advanced concepts of MLFs and ADT are used for dealing with switching among signed communication topologies. Numerical simulations to validate the proposed theoretical analysis are provided for different conditions. |
| |
| Keywords: | Leader-following consensus Bipartite consensus Nonlinear multi-agents Switching topology Multiple Lyapunov functions |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
