Bipartite leaderless position consensus of heterogeneous uncertain multi-agent systems under switching directed graphs

This paper addresses the bipartite leaderless position consensus of heterogeneous uncertain multi-agent systems (MASs) under dynamically switching directed graphs, in which there are three different types of agents governed by a first-order dynamics with matching uncertainties, a second-order one with matching uncertainties, and another second-order one with both matching and mismatching uncertainties, respectively. A fully distributed bipartite consensus algorithm is proposed, where only the signed relative position information is interacted. We focus on the bipartite position consensus under switching directed graphs, which requires the graphs to be uniformly jointly connected and simultaneously structurally balanced. Finally, the effectiveness of the consensus algorithms is validated by numerical simulations.