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This paper investigates the bipartite consensus problem for second-order multi-agent systems with communication delays and switching topologies. Aiming at the competitive-cooperative relationships among agents under switching topologies, bipartite consensus control protocols without and with communication delays are designed. By leveraging the eigenvector-eigenvalue method, linear matrix inequality, and Lyapunov stability theory, some sufficient conditions for achieving bipartite consensus are derived. Finally, numerical simulations are conducted to validate the effectiveness of the obtained results.

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Bipartite Consensus for Second-Order Multi-agent Systems with Communication Delays and Switching Topologies

  • 会议论文

  • 发表日期：

    2026年

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  • Guanyu Zhang,
  • Huanyu Zhao,
  • Yifei Wang,
  • Shiyu Jiao,
  • Wei Liu

摘要

This paper investigates the bipartite consensus problem for second-order multi-agent systems with communication delays and switching topologies. Aiming at the competitive-cooperative relationships among agents under switching topologies, bipartite consensus control protocols without and with communication delays are designed. By leveraging the eigenvector-eigenvalue method, linear matrix inequality, and Lyapunov stability theory, some sufficient conditions for achieving bipartite consensus are derived. Finally, numerical simulations are conducted to validate the effectiveness of the obtained results.