Observer-based bipartite consensus for uncertain Markovian-jumping multi-agent systems with actuator saturation

This paper addresses the problem of bipartite consensus for discrete-time multi-agent systems with Markovian-jumping parameters under the influence of time-varying communication delay and actuator saturation. The main aim of this work is to propose an observer-based control protocol such that the bipartite consensus of the uncertain Markovian-jumping multi-agent system under consideration can be achieved. An undirected structurally balanced signed graph is utilized to describe the cooperative and antagonistic interaction among neighboring agents. Combining algebraic graph theory together with Lyapunov stability theory, a new set of sufficient conditions is derived by using Jensen's inequality and Abel lemma based finite sum inequality to achieve bipartite consensus. At last, a numerical example is provided with simulations to validate the effectiveness of the developed theoretical results. (c) 2021 European Control Association. Published by Elsevier Ltd. All rights reserved.