Cluster Anticonsensus of Multiagent Systems Based on the Q-Theory

We investigate the problem of cluster anticonsensus of multiagent systems. For multiagent continuous systems, a new control protocol is designed based on the Q-theory. Then by LaSalle's invariance principle we prove that if the graph is connected and bipartite, then the cluster anticonsensus is achieved by the proposed control protocol. On the other hand, a similar control protocol is designed for multiagent discrete-time systems. Then, sufficient conditions are given to guarantee the cluster anticonsensus of multiagent discrete-time systems by using the Q-theory and LaSalle's invariance principle. Numerical simulations show the effectiveness of our theoretical results.