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This study concentrates on the bipartite tracking consensus for nonlinear high-order multi-agent systems(MASs) subject to exogenous disturbances over a signed directed graph. First, under the condition of nonlinear dynamics, two new control protocols are proposed to guarantee high-order bipartite tracking consensus under two cases with and without exogenous disturbances, respectively. Second, a disturbance observer is designed to estimate the external disturbances which originated from an external system. Third, to provide some efficient criteria for high-order bipartite consensus of MASs, we propose a novel pinning nodes selected scheme and get the lower bound of the pinning gains. Furthermore, by virtue of Lyapunov stability theory and graph theory, sufficient conditions for bipartite tracking consensus control of nonlinear high-order MASs subject to external disturbances are presented. Finally, simulations are performed for demonstration.INDEX TERMS MASs, bipartite consensus, high-order, exogenous disturbances.

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In order to verify the viability of the new-type vertical joints (composed of high-strength bolts, connecting steel frames, embedded limbic steel frames, and steel sleeves) in an innovative prefabricated structural wall (IPSW) system, low-cyclic reversed loading tests (pseudo-static tests) were performed on two H-shaped test specimens fabricating from precast web wall panel and precast flange wall panels joined together through the novel vertical joints. On the basis of the loading procedure and test data, the global behavior (including failure modes, lateral stiffness, ductility, and energy-dissipating capacity) and the local performance (including the stress distribution in the connecting steel frames and the relative slippages between the connection components) of the test specimens were detailedly discussed and presented. The research results demonstrated that the connectors were strong enough for maintaining the web wall panel and flange wall panels work together as an entirety to resist lateral seismic force, no slippages occurred on the contact interfaces between the connecting steel frame and embedded limbic steel frame throughout the loading procedure, and the vertical shear stress at the midpoint of the connecting steel frame (close to zero) was far smaller than that at its lower end (still much less than its yield strength). This experimental research confirms the viability and reliability of the new-type vertical joints, although the configurations of the precast wall panel as well as the vertical joints need indispensable improving to optimize the seismic performance of the entire test specimen.