Adaptive Leader-Following Bipartite Consensus of Nonlinear Multi-Agent Systems with Matching Uncertainties

This paper is concerned with the adaptive asymptotic leader-following bipartite consensus for a class of nonlinear multi-agent systems. Typically, the system nonlinearities and matching uncertainties are both admitted in the dynamics of the leader and followers. Therefore, based on the information of itself and its neighboring agents, adaptive gains are introduced to resist the serious uncertainties and system nonlinearities. To ensure the adaptive asymptotic leader-following bipartite consensus, the designed control protocol is given. Finally, the theoretical result is verified by a simulation example.