Consensus in Networks of Agents with Cooperative and Antagonistic Interactions

This paper studies the consensus of first-order discrete-time multi-agent systems with fixed and switching topology, there exists cooperative antagonistic interactions among agents. A signed graph is used to model agents, some sufficient conditions for are obtained by analyzing eigenvalues a Laplacian matrix in case topology. The results indicate that having spanning tree only necessary condition graphs, which also affected edge weights. Consensus further discussed reveal can be reached if controller gain union graphs consecutive time intervals satisfy conditions. Finally, several simulation examples confirm theoretical results.