Observer‐based bipartite Mittag‐Leffler time‐varying formation for fractional multi‐agent systems with discontinuous inherent dynamics

摘要

Summary In this article, the bipartite Mittag‐Leffler time‐varying formation issue of fractional multi‐agent systems is discussed, where the dynamical nodes of followers are modeled to be discontinuous and nondecreasing. A observer‐based adaptive distributed control scheme, which is dependent on output information, is designed to realized the bipartite formation control goal. Meanwhile, the efficient algorithm with respect to the control protocol also is presented. Under fractional Filippov differential inclusion framework, by constructing Lur'e Postnikov‐type Lyapunov functional and applying Clarke's non‐smooth analysis technique, the bipartite Mittag‐Leffler time‐varying formation conditions are derived in terms of linear matrix inequalities. At last, a simulation example is carried out to verify the effectiveness of the proposed scheme.