Distributed disturbance observer-based nonfragile bipartite consensus of nonlinear multiagent systems with multiple time-varying delays

The paper concentrates on the issue of distributed disturbance observer -based nonfragile bipartite consensus within nonlinear delayed multiagent systems, encompassing both leaderless and leader -following structures. The delays under consideration are nonuniform, manifesting in the state, the nonlinearity, and the communication processes. To suppress the external disturbances and the observer gain perturbations, distributed nonfragile disturbance observers pertaining to relative output and communication delays are developed to estimate the external disturbances for each agent. Employing the developed disturbance observer, distributed control protocols for nonfragile bipartite consensus are constructed incorporating states, estimated disturbances, and communication delays. These protocols can ensure bipartite consensus, compensate for external disturbances, and tolerate uncertainties in control gain. New augmented Lyapunov-Krasovskii functions are formulated by introducing the triple integral term and the augmented vector. The new bipartite consensus criteria for the studied multiagent systems are established with less conservatism by employing the techniques on secondorder Bessel-Legendre integral inequality, reciprocally convex combination, and free weight matrix. Finally, numerical simulations and comparisons are performed for both leaderless and leader -following scenarios, thereby validating and enhancing the theoretical outcomes.