Bipartite Containment Control of Nonlinear Fractional-Order Multi-agent Robotic Systems with Mixed Delays Under Hostile Disturbances
摘要
This study investigates the bipartite containment control of nonlinear fractional-order multi-agent robotic systems with mixed delays under hostile disturbances. Antagonistic components are defined as opposing or hostile factors that can influence the system, such as external interference, malicious entities, or other factors that deliberately disrupt control objectives. To address these challenges, the study employs signed graph theory and introduces key algebraic principles for modeling and analysis. The bipartite containment problem is examined in both fixed and switching signed network topologies. To handle the complexities arising from switching dynamics, fractional-order behavior, and time delays, the Razumikhin technique and Lyapunov-based methods are utilized. These methods offer robust solutions to ensure that the system maintains its desired performance even under adverse conditions. To validate the theoretical results, two simulation examples involving robotic agents are presented, demonstrating the practical effectiveness of the proposed control framework.