文章链接：Group-Bipartite Consensus in the Networks With Cooperative-Competitive Interactions
仿真图Fig3：

MATLAB代码

% Group-Bipartite Consensus in the Networks With Cooperative-Competitive Interactions
% Protocol Simulation Results
% author: JCGUY
% date: 2022-04-15
% 一阶  分组  二部  一致性clear;
clc;
%%
%状态初始值如下，十个智能体
X(:,1)= [ 1 -2 3 1.5  4  6  -3.5  -4  5  -1  -3]';
U(:,1) = [0,0,0,0,0,0,0,0,0,0,0]';
%a图的度矩阵D、邻接矩阵H、拉普拉斯矩阵H
A = [ 0 -1  0  0  0  0  0  0  0  0  0;0  0 -1  0  0  0  0  0  0  0  0;1  0  0  0  0  0  0  0  0  0  0;1  0 -1  0  0 -1  0  0  0  0  0;0  1  1  1  0  0  0  0  0  0  0;0  0  0  0  0  0  1  0  0  0  0;0  0  0  0 -1  0  0  0  0  0  0;1  1  0  0  0  0  0  0  1  0  0;0  0  0  0  0  0  0  0  0  0 -1;0  0  0  0  1  0  1 -1  0  0  0;0  0  0  0  0  0  0  0  0  1  0];L = [ 1  1  0  0  0  0  0  0  0  0  0;%  10  1  1  0  0  0  0  0  0  0  0;%  1-1  0  1  0  0  0  0  0  0  0  0;%  1-1  0  1  1  0  1  0  0  0  0  0;%  1+ -1 +1=10 -1 -1 -1  1  0  0  0  0  0  0;%  -1+1+1  =10  0  0  0  0  1 -1  0  0  0  0;%  10  0  0  0  1  0  1  0  0  0  0;%  1-1 -1  0  0  0  0  0  1 -1  0  0;%  1+ -1 +1=10  0  0  0  0  0  0  0  1  0  1;%  10  0  0  0 -1  0 -1  1  0  1  0;%  1+ -1 +1=10  0  0  0  0  0  0  0  0 -1  1];% 1%设置收敛相关参数
tBegin = 0;
tEnd   = 20;
dt     = 0.1;
times  = ( tEnd - tBegin )/dt;
time   = 1;
t(1,1) = 0;
n = 10;
%定义图数据的存储数组% t(:,1) = tBegin; %定义能够记录时间的数组
%%
%开始相关的收敛计算
while (time <= times)%t(1, time) = tBegin + dt * time;%时间数组t(:,time+1) = t(:,time) + dt;U(:, time) =-L*X(:, time);X(:,time+1)= X(:,time)+U(:,time)*dt;time = time+1;
end%%
%绘图 t,Xt(1,:)subplot(1,1,1)
plot(t,X(1,:),'b','linewidth',1.0); hold on % x1
plot(t,X(2,:),'g','linewidth',1.0); hold on % x2
plot(t,X(3,:),'b','linewidth',1.0); hold on % x3
plot(t,X(4,:),'r','linewidth',1.0); hold on % x4
plot(t,X(5,:),'r','linewidth',1.0); hold on % x5
plot(t,X(6,:),'c','linewidth',1.0); hold on % x6
plot(t,X(7,:),'c','linewidth',1.0); hold on % x7
plot(t,X(8,:),'y','linewidth',1.0); hold on % x8
plot(t,X(9,:),'y','linewidth',1.0); hold on % x9
plot(t,X(10,:),'k','linewidth',1.0); hold on % x10
plot(t,X(11,:),'k','linewidth',1.0); hold on % x11
% title('Position Trajectory');
legend("x_1", "x_2", "x_3", "x_4", "x_5", "x_6", "x_7", "x_8", "x_9", "x10", "x11");
xlabel("time (s)");
ylabel("Position");
axis([0 20 -6 6]); % subplot(1,2,2)
% plot(t,U(1,1:55),'linewidth',1.0); hold on % x1
% plot(t,U(2,1:55),'linewidth',1.0); hold on % x2
% plot(t,U(3,1:55),'linewidth',1.0); hold on % x3
% plot(t,U(4,1:55),'linewidth',1.0); hold on % x4
% plot(t,U(5,1:55),'linewidth',1.0); hold on % x5
% title('Position Trajectory');
% legend("u_1", "u_2", "u_3", "u_4", "u_5");
% grid on; box on;