Bipartite Consensus of Multi-Agent Systems with a Multi-Rate Sampling Mechanism under Detail-Balanced Antagonistic Interactions

This paper studies the bipartite consensus of multiagent systems (MASs) with a multi-rate sampling mechanism under detail-balanced antagonistic interactions. A multi-rate sampling mechanism is introduced to sample the system output variables asynchronously. Moreover, a sensor buffer is utilized for storing an agent’s asynchronous output variables and broadcasting its information to the communication network, which is represented by a detail-balanced directed graph. An observer-based distributed control protocol using the information from the corresponding sensor buffer is constructed to guarantee the bipartite consensus of MASs. A numerical simulation is offered to illustrate the validity of the proposed scheme.