Finite-Time Bipartite Formation of Nonlinear Heterogeneous Multi-Agent Systems

Due to their extended use, nowadays, Multi-Agent Systems have attracted the attention of many researchers. Bipartite formation is one of the interesting fields of Multi-Agent Systems that has been raised within a decade. In this research, the distributed bipartite formation of Multi-Agent Systems was investigated by a leader-follower approach. Heterogeneous agents in this approach have second-order nonlinear dynamics, and the communication graph between the agents is also a structurally balanced signed directed graph. Because of the distributed approach of the controller and the lack of existing communication between the leader and all of the followers, a finite-time observer is used to estimate the leader's dynamic in finite time. Also, because a finite-time approach increases performance and efficiency in many practical applications, a terminal sliding mode controller provides finite-time formation. Finally, the validity of the theoretical results is illustrated by simulation examples.