Bipartite output consensus of power integrator multi-agent systems with input noises

Underactuated and weakly coupled mechanical systems of power integrators is ubiquitous in physical implementations. Due to the presence of negative communication weights, whether bipartite output consensus can be reached remains unknown. Thus, it is of practical significance to investigate this issue. Furthermore, with input noises, an adaptive disturbance compensator, along with the technique of adding power integrators, is established for the complex multi-agent systems to improve the stability and robustness performance of the system.