Observer-Based Multiagent Bipartite Consensus With Deterministic Disturbances and Antagonistic Interactions.

This article studies the multiagent bipartite consensus in networks with deterministic disturbances and antagonistic interactions. An observer-based output-feedback controller design is provided to guarantee the bipartite consensus with deterministic disturbances that satisfy the matching condition. Then, by considering that the bandwidths of communication channels are limited in practical systems, the event-triggered scenario of the proposed output controller for the bipartite consensus is further studied; the node-based broadcast updating fashion is utilized and the Zeno behavior is ruled out. Simulations are also offered to support the theoretical results of protocol designs.