Adaptive Bipartite Consensus of Multi-agent Systems with Communication Link Uncertainty under Cooperative and Competitive Interactions

This paper investigates bipartite consensus problem of multi-agent systems (MASs) with communication link uncertainty under a signed digraph. The existence of communication link uncertainty have affected information interaction between agents. Therefore, this paper designs a distributed observer so that the followers agents can estimate the leader's state information. Afterwards, a controller with adaptive coupling gain is designed under a signed digraph to reduce the impact of unknown time-varying communication link uncertainty. Then, based on Lyapunov stability analysis, it is proved that the MASs with communication link uncertainty can realize bipartite consensus. Finally, the validity of the proposed control scheme is verified through simulation examples.