Structural Balance Preserving and Consensus of Uncertain Euler-Lagrange Systems in Cooperation-Competition Networks

This paper studies the structural balance preserving and bipartite static consensus problem for multiple uncertain Euler-Lagrange systems in the state-dependent cooperation-competition network. The initial network is set to structural balance and connection, which implies that the network could be divided into two subnetworks, with cooperation internally while competition externally. A combination of the novel classification strategy and the distributed control protocol based on potential functions is given to solve this problem. Under this strategy and standard assumptions, the multiple uncertain Euler-Lagrange agents can maintain structural balance in cooperation-competition network and the bipartite static consensus can be reached in the evolution. Finally, the accuracy of the derived analytical results can be verified by a simulation example.