Adaptive bipartite consensus tracking control for coopetition multi-agent systems with input saturation

This paper studies the adaptive bipartite consensus tracking problems for second-order coopetition multi-agent systems with input saturation. A fuzzy-based command filtered backstepping scheme is developed, which can guarantee the bipartite position tracking errors converging to the desired neighborhood and all the closed-loop signals are bounded although the nonlinear dynamics are unknown and the input saturation exists. An example is included to verify the proposed method.