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Semi-global Adaptive Bipartite Output Consensus of Multi-agent Systems Subject to Input Saturation and External Disturbance Under Switching Network

Haichuan Xu, Housheng Su, Qiming Wang, and Chengjie Xu*
International Journal of Control, Automation, and Systems, vol. 19, no. 9, pp.3037-3048, 2021

Abstract : This paper investigates semi-global adaptive bipartite output consensus of continuous-time multi-agent systems (MASs) with input saturation and non-identical external disturbance under jointly connected switching network. An adaptive bipartite output consensus protocol of MASs is proposed by using low-gain feedback technology. It is turned out that semi-global adaptive bipartite consensus of MASs can be achieved under the protocol. Furthermore, the proposed control protocol can be applied for MASs under fixed network, and semi-global adaptive bipartite output consensus can be also achieved in this case. Finally, the simulations will verify the effectiveness of theoretical results.

Keyword : Adaptive bipartite output consensus, external disturbance, input saturation, multi-agent systems (MASs), switching network.

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