东华大学学报（英文版）2026，Vol.43Issue(1)：80-90,11.DOI:10.19884/j.1672-5220.202410001
多群网络下异构非线性多智能体系统的二分包含控制
Bipartite Containment Control of Heterogeneous Nonlinear Multi-Agent Systems over Multi-Group Networks
摘要
Abstract
The bipartite containment control problem for heterogeneous nonlinear multi-agent systems(HNMASs)within multi-group networks under signed digraphs is investigated,where the first-order and second-order nonlinear dynamic agents belong to distinct groups.Interactions are cooperative-antagonistic within each group and sign-in-degree balanced across the inter-groups.Firstly,a state feedback control protocol is designed to ensure that the trajectories of followers in diverse groups can converge to distinct convex hulls formed by their corresponding leaders,respectively.As an extension,the bipartite control problem with time-variant formation for the multi-agent system(MAS)is also considered,and a corresponding control protocol with formation compensation vectors is given.Finally,in view of Lyapunov stability theory and matrix inequality,the sufficient conditions for realizing the bipartite containment control are obtained,and several simulations are provided to verify the validity of the above methods.关键词
二分包含控制/时变编队/异构非线性系统/多群网络Key words
bipartite containment control/time-variant formation/heterogeneous nonlinear system/multi-group network分类
数理科学引用本文复制引用
胡梓琪,康剑灵..多群网络下异构非线性多智能体系统的二分包含控制[J].东华大学学报（英文版）,2026,43(1):80-90,11.基金项目
National Natural Science Foundation of China(No.12071370) （No.12071370）
