Bipartite Consensus for General Second-Order Systems with Communication Delay

This paper discusses bipartite consensus and bipartite tracking consensus for general second-order multi-agent systems (MASs) under signed digraphs in the presence of communication delay. In light of the reduced-order observer, distributed output feedback controls are applied to general second-order MASs. Utilizing the tree-type transformation, knowledge related to graph theory, and characteristic equation analysis, certain conditions are determined for bipartite consensus and bipartite tracking consensus under communication delay. Finally, practical examples and simulations are included to confirm the theoretical findings.