Ordered-Bipartite Consensus of Multi-Agent Systems under Finite Time Control

Since group consensus (GC) control accounts for one-half of the multi-robot coordination domain, as does complete control, this paper will formulate a certain kind GC and bipartite (GBC) in finite time multi-agent systems (MAS). It should be noted that key to work is information transfer under acyclic partition networks zero-sum between groups cooperative–competitive interaction. The general firstly achieved partition, which reflects fact such topology allows MAS reach agreement an ordered hierarchical process. Further, communication within each signed digraph. Thus, group–bipartite given topology. These results display not only ordered, state, but also intra-group symmetric state. In addition, simulation examples are presented parallel with theoretical results.