This article examines the bipartite consensus problem in multi-agent systems affected by actuator saturation and external disturbances. Based on the enlargement of the contractively invariant set, sufficient conditions are derived to ensure bipartite consensus and to evaluate the domain of consensus attraction under input saturation and magnitude-bounded disturbances. For systems subject to energy-bounded disturbances, a criterion is further developed to ensure that the system trajectories starting from an inner ellipsoid remain within an outer ellipsoid while achieving bipartite consensus. Moreover, the analytical problems are reformulated as convex optimization problems constrained by linear matrix inequalities. This formulation improves both the feasibility and computational efficiency of the proposed control method. Finally, numerical simulations are conducted to validate the effectiveness and superiority of the developed bipartite consensus control strategy.
Ge et al. (Mon,) studied this question.