Output feedback control for bipartite consensus of nonlinear multi-agent systems with disturbances and switching topologies

Abstract The bipartite consensus protocol for nonlinear multi-agent system (MAS) subject to switching interaction graphs and external disturbances is addressed in this paper. The coordination goal of this paper is to present a static output feedback control design such that the bipartite consensus of the considered MAS can be achieved with prescribed mixed H ∞ and passive performance. We consider undirected structurally balanced signed network topologies to express the cooperative and competitive interaction between neighboring agents. To achieve the desired objective of this paper, the problem under consideration is first transformed into a stabilization problem by using the properties of Laplacian matrix. Then utilizing Lyapunov stability theory, the desired bipartite consensus conditions are developed for the resulting model in terms of linear matrix inequalities. Ultimately, a numerical example is provided to verify the robustness of the considered static output feedback control design.