Adaptive Bipartite Tracking Control of Leader-follower Systems on Coopetition Networks

In this paper, a bipartite tracking problem is considered for a group of autonomous agents on a coopetition network, which is modeled by a signed graph. The leader and the followers are subjected to unknown disturbances, which are represented by linearly parameterized models. The agent dynamics is described by a double integrator. The relative position measurements and the relative velocity measurements are utilized as the new state variables to yield a new distributed system. An adaptive tracking control for each follower is designed by virtue of the two relative measurements. Moreover, the convergence of the bipartite tracking error and the parameter estimation are analyzed even when no more global information about the bounds of the unknown disturbances is available to all the followers.