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Complex Eng Syst 2022;2:[Accepted].10.20517/ces.2022.08© The Author(s) 2022
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Open AccessResearch Article

Sampled-based bipartite tracking consensus of nonlinear multiagents subject to input saturation 

Correspondence Address: Dr. Yurong Liu, Department of Mathematics, Yangzhou University, No. 180 Siwangting Road, Hanjiang Dsitrict, Yangzhou 225002, Jiangsu, China. E-mail:


© The Author(s) 2022. Open Access This article is licensed under a Creative Commons Attribution 4.0 International License (, which permits unrestricted use, sharing, adaptation, distribution and reproduction in any medium or format, for any purpose, even commercially, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.


This paper is concerned with the sampled-data bipartite tracking consensus problem for a class of nonlinear multiagent systems (MASs) with input saturation. Both competitive and cooperative interactions coexist among agents in the concerned network. By resorting to Lyapunov stable theory and linear matrix inequality (LMI) technique, several criteria are obtained to ensure that the considered MASs can achieve the bipartite tracking consensus. Besides, with the help of the decoupled method, the dimensions of LMIs are reduced for mitigation of the computation complexity so that the obtained results can be applied to large-scaled MASs. Furthermore, the controller gain matrix is explicitly expressed in terms of solutions to a set of LMIs. We also provide with an estimate of elliptical attraction domain of bipartite tracking consensus. Finally, numerical simulation is exploited to support our theoretical analysis. 

Cite This Article

Yu L, Cui Y, Lu Z, Liu Y. Sampled-based bipartite tracking consensus of nonlinear multiagents subject to input saturation. Complex Eng Syst 2022;2:[Accept].

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