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Bipartite Consensus of Nonlinear Agents in the Presence of Communication Noise
Sabyasachi Mondal1, Antonios Tsourdos1
1School of Aerospace, Transport and Manufacturing (SATM), Cranfield University, Cranfield MK43 0AL, UK.
Abstract:
In this paper, a Distributed Nonlinear Dynamic Inversion (DNDI)-based consensus protocol is designed to achieve the bipartite consensus of nonlinear agents over a signed graph. DNDI inherits the advantage of nonlinear dynamic inversion theory, and the application to the bipartite problem is a new idea. Moreover, communication noise is considered to make the scenario more realistic. The convergence study provides a solid theoretical base, and a realistic simulation study shows the effectiveness of the proposed protocol.
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