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This paper focuses on the leader-following bipartite consensus problem for second order multi-agent systems (MASs) subject to the disturbance generated from exosystem. Different from some related works on this topic, the upper bound of disturbance is not required and the disturbance observer is proposed to estimate the exogenous disturbance. To guarantee the bipartite consensus of nonlinear MASs, both pinning control and disturbance observer strategy are employed. With the help of linear matrix inequality and Lyapunov stability theory, it is demonstrated that leader-following bipartite consensus for nonlinear MASs can be realized if a fraction of the agents are controlled under some sufficient conditions. The effectiveness of the developed approach is verified via simulations.

Bipartite Consensus for Second Order Multi-Agent Systems With Exogenous Disturbance via Pinning Control