Research For Bipartite Output Consensus Of Heterogeneous Multi-Agent Systems

This article investigates the bipartite output consensus of uncertain heterogeneous linear multi-agent systems.Suppose that the directed signed graph is structurally balanced and contains a directed spanning tree with external system as its node.Based on the relative state of neighboring agents,a distributed bipartite compensator is first proposed to estimate the state of the exosystem.First,based on the distributed bipartite compensator,the dynamic state feedback control protocol is designed for each agent,and then matrix theory and a Sylvester matrix equation are adopted in order to make the output of each agent converge to the output of the exosystem with the same value but opposite signs.Finally,A numerical example is provided to prove the theoretical results.Then considering that the state information of the agent may not be available,a distributed dynamic output feedback control protocol is designed based on the distributed bipartite compensator,and the same method is adopted such that multi-agent systems achieve the bipartite output consensus.Finally,A numerical example is provided to prove the theoretical results.