### Scaled Bipartite Consensus Controller Design for Second-Order Multi-Agent Systems with Mixed Time-Delays

YANG Ruitian1, PENG Li1, YANG Yongqing2, ZHAO Huarong1

1. 1. Research Center of Engineering Applications for IOT, Jiangnan University, Wuxi 214122, China;2. Key Laboratory of Advanced Process Control for Light Industry (Ministry of Education), School of Science, Jiangnan University, Wuxi 214122, China
• Received:2020-08-10 Revised:2020-12-08 Published:2022-06-20
• Supported by:
This paper was supported by the National Science Fund for Distinguished Young Scholars under Grant No. 62125303, and the Science Center Program of National Natural Science Foundation of China under Grant No. 62188101.

YANG Ruitian, PENG Li, YANG Yongqing, ZHAO Huarong. Scaled Bipartite Consensus Controller Design for Second-Order Multi-Agent Systems with Mixed Time-Delays[J]. Journal of Systems Science and Complexity, 2022, 35(3): 888-908.

The scaled bipartite consensus of second-order multi-agent systems is investigated in this paper. The internal delay and distributed delay are also considered in the dynamic model of each agent, in which the delays can be time-varying and large. The communication topology among agents is assumed to be directed and structurally balanced. On one hand, in order to guarantee scaled bipartite consensus of second-order multi-agent systems, an adaptive periodically intermittent control protocol is applied. On the other hand, some consensus criteria in the form of matrix inequalities are obtained by using Jensen inequality, Lyapunov stability theory and graph theory. Finally, a numerical simulation example is given to demonstrate the feasibility of theoretical results.
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