On the Bipartite Consensus for Generic Linear Multiagent Systems With Input Saturation

• Published in: IEEE transactions on cybernetics Vol. 47; no. 8; pp. 1948 - 1958
• Main Authors: Qin, Jiahu, Fu, Weiming, Zheng, Wei Xing, Gao, Huijun
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.08.2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Antagonistic interactions; Asymptotic properties; bipartite consensus; Control systems; Controllers; Convergence; Feedback control; generic linear system; Graph theory; input saturation; Laplace equations; Linear systems; low gain feedback; Multi-agent systems; Multiagent systems; Network topology; Saturation; signed graph; Stability; Symmetric matrices; Topology
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2016.2612482

The bipartite consensus problem for a group of homogeneous generic linear agents with input saturation under directed interaction topology is examined. It is established that if each agent is asymptotically null controllable with bounded controls and the interaction topology described by a signed digraph is structurally balanced and contains a spanning tree, then the semi-global bipartite consensus can be achieved for the linear multiagent system by a linear feedback controller with the control gain being designed via the low gain feedback technique. The convergence analysis of the proposed control strategy is performed by means of the Lyapunov method which can also specify the convergence rate. At last, the validity of the theoretical findings is demonstrated by two simulation examples.