Observer-Based Bipartite Consensus of Linear Multi-Agent Systems With Measurement Noises

This paper considers the bipartite consensus of linear multi-agent systems with measurement noise, in which both the cooperation and competition relations exist among agents. To attenuate the influence of measurement noises, an important function alpha(t) is introduced. Then, the output-based controller with both the noisy part and noise-free part is proposed. It is proved that the proposed controller can guarantee the mean-square bipartite consensus with the assumption in which the signed graph is connected and structurally balanced. Meanwhile, the obtained result releases the limitation on time-varying function alpha(t). Finally, an example with six agents is utilized to illustrate the effectiveness of the proposed controller.