A Distributed Lyapunov-Based Redesign Approach for Heterogeneous Uncertain Agents With Cooperation–Competition Interactions

A swarming behavior problem is investigated in this article for heterogeneous uncertain agents with cooperation-competition interactions. In such a problem, the agents are described by second-order continuous systems with different intrinsic nonlinear terms, which satisfies the "linearity-in-parameters" condition, and the agents' models are coupled together through a distributed protocol containing the information of competitive neighbors. Then, for four different types of cooperation-competition networks, a distributed Lyapunov-based redesign approach is proposed for the heterogeneous uncertain agents, where the distributed controller and the estimation laws of unknown parameters are obtained. Under their joint actions, the heterogeneous uncertain multiagent system can achieve distributed stabilization for structurally unbalanced networks and output bipartite consensus for structurally balanced networks. In particular, the concept of coherent networks is proposed for structurally unbalanced directed networks, which is beneficial to the design of distributed controllers. Finally, four illustrative examples are given to show the effectiveness of the designed distributed controller.