Bipartite Consensus Problem Of Second-Order Multi-Agent Systems With Disturbances

This paper studies the bipartite consensus problem for second-order multi-agent systems with distinct disturbances. The interactions between agents are described by a signed directed graph. For structurally balanced networks, a generalized bipartite consensus algorithm with disturbances' observers is proposed. Necessary and sufficient conditions are obtained to achieve bipartite consensus with the well designed algorithm by using frequency-domain analysis and matrix theory. Finally, simulations are shown to verify the correctness of presented results.