Observer-Based Bipartite Consensus of Linear Multi-Agent Systems With Measurement Noises

This paper considers the bipartite consensus of linear multi-agent systems with measurement noise, in which both the cooperation and competition relations exist among agents. To attenuate the influence of measurement noises, an important function
$\alpha (t)$
is introduced. Then, the output-based controller with both the noisy part and noise-free part is proposed. It is proved that the proposed controller can guarantee the mean-square bipartite consensus with the assumption in which the signed graph is connected and structurally balanced. Meanwhile, the obtained result releases the limitation on time-varying function
$\alpha (t)$
. Finally, an example with six agents is utilized to illustrate the effectiveness of the proposed controller.