Delays-Based Distributed Bipartite Consensus Control of Nonlinear Multiagent Systems With Switching Signed Topologies

Kuo Li, Choon Ki Ahn, Changchun Hua

Research output: Contribution to journalArticlepeer-review


This paper explores the distributed leader-following bipartite consensus control issue for nonlinear multiagent systems under switching signed topologies and communication delays. It is permitted that the signed topologies are switched with an average dwell-time condition, and the delays are modeled as the time-varying functions. In the permission, we develop a new dynamic output feedback control-based distributed bipartite consensus method. First, we put forward the delays-dependent distributed switched compensators to the followers, adopting the relevant output information, which are applied to asymptotically estimate the leader-following tracking errors and provide the control signals. Then, we construct the distributed output feedback switched controllers with the linear structure for all followers, which are dependent on the compensators. By utilizing the Lyapunov-Krasovskii functional analysis method, we verify that our proposed controllers can render the agents gaining the bipartite consensus if the switching signal of signed topologies fulfills an average dwell-time condition. Finally, two examples are executed in the simulation to confirm the validity of the given control strategy.

Original languageEnglish
Pages (from-to)1-10
Number of pages10
JournalIEEE Transactions on Network Science and Engineering
Publication statusAccepted/In press - 2023


  • communication delays
  • Consensus control
  • Control systems
  • Delays
  • distributed bipartite consensus
  • distributed switched compensator
  • Network topology
  • Nonlinear multiagent systems
  • Output feedback
  • Switches
  • switching signed topologies
  • Topology

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Computer Networks and Communications


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