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DABLSE-based adaptive finite-time bipartite consensus for multi-agent systems with noncooperative leader

Author

Listed:
  • Wang, Qiufu
  • Wang, Zhanshan
  • Jia, Tianyuan

Abstract

This paper investigates the finite-time bipartite consensus (FTBC) for nonlinear multi-agent systems (MASs) with input saturation and noncooperative leader, where the leader’s input is not obtainable for followers. Firstly, to ensure that followers can obtain the leader state, a distributed adaptive bipartite leader state estimator (DABLSE) is proposed based on the estimation of leader’s input bound. This method overcomes the limitation of requiring knowledge of leader’s input bound for all followers and relaxes the constraint on leader’s input. Then, a smooth approximation function is applied to handle the input saturation in MASs. Subsequently, for achieving FTBC of MASs, a new adaptive controller is designed based on DABLSE by introducing sign vector and hyperbolic tangent function of error. This design reduces the controller chattering caused by direct compensation using the error’s sign vector in existing literature. Finally, the effectiveness of proposed FTBC strategy is validated by a simulation.

Suggested Citation

  • Wang, Qiufu & Wang, Zhanshan & Jia, Tianyuan, 2026. "DABLSE-based adaptive finite-time bipartite consensus for multi-agent systems with noncooperative leader," Applied Mathematics and Computation, Elsevier, vol. 515(C).
    • Handle: RePEc:eee:apmaco:v:515:y:2026:i:c:s0096300325005788
    DOI: 10.1016/j.amc.2025.129853
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    References listed on IDEAS

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    1. Zheng, Leyi & Zhou, Yimin, 2025. "Event-triggered distributed consensus control of heterogeneous multi-agent system under communication and actuator faults," Applied Mathematics and Computation, Elsevier, vol. 487(C).
    2. Saravanan Shanmugam & Rajarathinam Vadivel & Nallappan Gunasekaran, 2023. "Finite-Time Synchronization of Quantized Markovian-Jump Time-Varying Delayed Neural Networks via an Event-Triggered Control Scheme under Actuator Saturation," Mathematics, MDPI, vol. 11(10), pages 1-24, May.
    3. Cai, Yuliang & Wang, Youtong & Su, Hanguang & Fu, Lianyan & He, Qiang, 2025. "Bipartite leader-following consensus of linear multi-agent systems with unknown disturbances under directed graphs by double dynamic event-triggered mechanism," Applied Mathematics and Computation, Elsevier, vol. 496(C).
    4. Gao, Shuo & Wen, Guoguang & Zhai, Xiaoqin & Zheng, Peng, 2023. "Finite-/fixed-time bipartite consensus for first-order multi-agent systems via impulsive control," Applied Mathematics and Computation, Elsevier, vol. 442(C).
    5. Zhang, Xuxi & Liu, Xianping & Lewis, Frank L. & Wang, Xia, 2020. "Bipartite tracking consensus of nonlinear multi-agent systems," Physica A: Statistical Mechanics and its Applications, Elsevier, vol. 545(C).
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