Observer-based fully distributed bipartite consensus of multiagent systems with disturbance rejection

Observer-based output feedback control method is utilized to deal with the bipartite consensus problem of multiagent systems (MASs) suffering deterministic disturbances. Based on the leaderless and leader-follower methods, two fully distributed observer-based output feedback controllers are devised to guarantee the bipartite consensus of MASs. Moreover, due to the limited bandwidth of communication channels in practical systems, an event-triggered output feedback controller for the bipartite consensus of MASs is also developed and can guarantee that Zeno behavior does not occur. Finally, the effectiveness and advantages of the control protocols are verified via illustrate examples.