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

2 Citations (Scopus)


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)1895-1904
Number of pages10
JournalIEEE Transactions on Network Science and Engineering
Issue number4
Publication statusPublished - 2023 Jul 1

Bibliographical note

Funding Information:
This work was supported in part by the NationalNatural Science Foundation ofChina under Grant U20A20187 and 61825304, in part by the Hebei Innovation Capability Improvement Plan Project of China under Grant 22567619H

Publisher Copyright:
© 2013 IEEE.


  • Communication delays
  • distributed bipartite consensus
  • distributed switched compensator
  • nonlinear multiagent systems
  • switching signed topologies

ASJC Scopus subject areas

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


Dive into the research topics of 'Delays-Based Distributed Bipartite Consensus Control of Nonlinear Multiagent Systems With Switching Signed Topologies'. Together they form a unique fingerprint.

Cite this