Data-Driven Adaptive Iterative Learning Bipartite Consensus for Heterogeneous Nonlinear Cooperation–Antagonism Networks

Heterogeneous dynamics, strongly nonlinear and nonaffine structures, and cooperation–antagonism networks are considered together in this work, which have been considered as challenging problems in the output consensus of multiagent systems. A heterogeneous linear data model (LDM) is presented to accommodate the nonlinear nonaffine structure of the heterogeneous agent. It also builds an I/O dynamic relationship of the agents along the iteration-dimensional direction to make it possible to learn control experience from previous iterations to improve the transient consensus performance. Then, an adaptive update algorithm is developed for the estimation of the uncertain parameters of the LDM to compensate for the unknown heterogeneous dynamics and model structures. To address the problem of cooperation and antagonism, an adaptive learning consensus protocol is proposed considering two signed graphs, which are structurally balanced and unbalanced, respectively. The learning gain can be regulated using the proposed adaptive updating law to enhance the adaptability to the uncertainties. With rigorous analysis, the bipartite consensus is proven in the case that the graph is structurally balanced, and the convergence of the agent output to zero is also proven in the case that the graph is unbalanced in its structure. The presented bipartite consensus method is data-based without the use of any explicit model information. The theoretical results are demonstrated through simulations.