Multiple-group antagonistic consensus control of seconder-order agents

Abstract

This paper investigates the antagonistic consensus problem of a class of second-order multi-agent systems with fixed topology. A distributed consensus control algorithm is proposed for each agent to realize the four-group antagonistic consensus. A sufficient condition is derived to ensure that all agents make a four-group antagonistic motion in a distributed manner. It is shown that all agents can be spontaneously divided into four groups, and agents in the same group collaborate while agents in different groups compete. Numerical simulations are included to demonstrate our theoretical results.