Output Feedback Predefined-Time Bipartite Consensus Control for High-Order Nonlinear Multiagent Systems

Kuo Li, Changchun Hua, Xiu You, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


This paper concerns the predefined-time bipartite consensus control for uncertain nonlinear multiagent systems under a signed directed topology. All agents have high-order uncertain nonlinear dynamic characteristics satisfying a time-varying Lipschitz growth condition, and their partial state information is not available for measurement. In this case, we put forward a novel output-feedback-based predefined-time leader-following bipartite consensus control strategy. A predefined-time compensator for each follower is firstly constructed with a time-varying gain by utilizing its relative output information. Then, a novel linear-like output feedback predefined-time distributed control protocol is developed for each follower by means of the compensator. By making two artful state transitions, the bipartite consensus problem is reduced to a stabilization one of nonlinear systems. By means of the Lyapunov stability theorem, we strictly prove that the designed controllers can ensure that all agents realize bipartite consensus in predefined time. Finally, two simulation examples are given to validate the viability of the developed theoretical algorithm.

Original languageEnglish
Article number9415871
Pages (from-to)3069-3078
Number of pages10
JournalIEEE Transactions on Circuits and Systems I: Regular Papers
Issue number7
Publication statusPublished - 2021 Jul


  • Bipartite consensus
  • a time-varying gain
  • output feedback controllers
  • predefined-time control
  • uncertain nonlinear multiagent systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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