Bipartite Linear χ‐Consensus of Double‐Integrator Multi‐Agent Systems With Measurement Noise |
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Authors: | Cuiqin Ma Weiwei Zhao Yun‐Bo Zhao |
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Affiliation: | 1. School of Mathematical sciences, Qufu Normal University, Qufu, China;2. College of Information Engineering, Zhejiang University of Technology, Hangzhou, China |
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Abstract: | The bipartite consensus problem is investigated for double‐integrator multi‐agent systems in the presence of measurement noise. A distributed protocol with time‐varying consensus gain is proposed. By using tools of state transition matrix and algebraic graph theory, necessary and sufficient conditions for the designed protocol to be a mean square bipartite linear χ‐consensus protocol are given. It is shown that the signed digraph being structurally balanced and having a spanning tree are not only sufficient, but also necessary for bipartite consensus. Furthermore, the protocol is proved to be a mean square bipartite average consensus protocol if the signed graph is weight balanced. |
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Keywords: | Bipartite linear χ ‐consensus double‐integrator multi‐agent systems measurement noise |
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