[1]WANG Xiaoyu,LIU Kaien,JI Zhijian,et al.Necessary and sufficient conditions for bipartite consensus of heterogeneous multi-agent systems[J].CAAI Transactions on Intelligent Systems,2020,15(4):679-686.[doi:10.11992/tis.201901008]
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Necessary and sufficient conditions for bipartite consensus of heterogeneous multi-agent systems

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 15 Number of periods: 2020 4 Page number: 679-686 Column: 学术论文—智能系统 Public date: 2020-07-05
Title:
Necessary and sufficient conditions for bipartite consensus of heterogeneous multi-agent systems
Author(s):
WANG Xiaoyu1;  LIU Kaien1;  JI Zhijian2;  LIANG Jingxian1
1. School of Mathematics and Statistics, Qingdao University, Qingdao 266071, China;
2. School of Automation Engineering, Qingdao University, Qingdao 266071, China
Keywords:
heterogeneous multi-agent systems; bipartite consensus; gauge transformation; structural balance; continuous systems; discrete systems; algebraic graph theory; matrix theory
CLC:
TP18
DOI:
10.11992/tis.201901008
Abstract:
To investigate the bipartite consensus problem of heterogeneous multi-agent systems composed of first- and second-order agents, in this study, we designed bipartite consensus protocols for continuous and discrete systems. Based on a structurally balanced topology, we employ gauge transformation to transform a system with antagonistic interactions into one with non-negative connection weights. Accordingly, the bipartite consensus problem is transformed into a general consensus problem. We use algebraic graph theory and matrix theory to analyze the dynamic characteristics of the closed-loop control system and obtain the necessary and sufficient conditions to guarantee that heterogeneous multi-agent systems reach bipartite consensus asymptotically. Finally, we present numerical simulations to illustrate the effectiveness of the obtained theoretical results.
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