Distributed Bipartite Consensus Of Heterogeneous Multi-agent Systems

The graph is generated because many individuals are modeled in real life.The nodes in the graph represent individuals,and the edges in the graph represent the connections between individuals.The multi-agent system belonging to the collaborative control system is produced on the basis of individual information exchange in the graph.Consensus is its key issue,and the extended bipartite consensus has also attracted more attention.Based on the bipartite consensus,this paper discusses the bipartite output consensus as follows:Firstly,for the general linear heterogeneous multi-agent system,in order to realize the arbitrary allocation of system pole position,a fully distributed dynamic compensator is proposed,which does not need any global data.Then,the state feedback protocol is advanced.By constructing the Lyapunov function,the stability analysis is carried out through the La Salle invariance theorem,Riccati equation,algebraic graph theory,Hurwitz matrix,etc.Finally,a simulation example is given to verify the feasibility of the proposed mean.The bipartite output consensus of heterogeneous multi-agent systems on directed graphs is studied by using fully distributed state feedback protocol.Furthermore,considering that in practical applications,for the purpose of estimating the state that is not easy to gauge,a state observer based on output feedback is further devised on the basis of fully distributed dynamic compensator.Then,the output feedback protocol is given,and the stability is analyzed by constructing Lyapunov function and related theorem tools.Finally,The reliability of the fully distributed output feedback protocol theory is verified by a simulation example.