Bipartite Consensus for a Class of Nonlinear Multi-agent Systems Under Switching Topologies:A Disturbance Observer-Based Approach

This paper considers the leader-following bipartite consensus for a class of nonlinear multi-agent systems (MASs) subject to exogenous disturbances under directed fixed and switching topologies, respectively. Firstly, two new output feedback control protocols involving signs of link weights are introduced based on relative output measurements of neighboring agents. In order to estimate the disturbances produced by an exogenous system, a disturbance observer-based approach is developed. Then, sufficient conditions for leader-following bipartite consensus with directed fixed topologies are derived. Furthermore, by assuming that each switching topology contains a directed spanning tree, it is proved that the leader-following bipartite consensus can be realized with the designed output feedback control protocol if the dwell time is larger than a non-negative threshold. Finally, numerical simulations inspired by a real-world DC motors are provided to illustrate the effectiveness of the proposed controllers