Bipartite Consensus of Multi-Agent Systems With a Non-Autonomous Leader Under Directed Switching Signed Graphs

Bipartite consensus of multi-agent systems (MASs) with directed switching signed graphs and a non-autonomous leader is studied in this brief. By using the unknown input observer (UIO) technique, an observer based on relative outputs are firstly given to estimate the relative full states. Then a continuous controller consisting of two parts is given, where the first part is used to achieve bipartite consensus and the second part is utilized to cancel the effects of leader’s nonzero inputs. Secondly, by using stability theory of switched systems, bipartite consensus is shown to be reached if the average dwell time (ADT) is larger than a threshold. Finally, simulation is given to validate theoretical results.