Bipartite Output Consensus for Heterogeneous Multi-Agent Systems
Enyang Li, Qian Ma, Gongfei Song · 2018
This paper addresses the problem of bipartite output consensus of heterogeneous multi-agent systems over signed graphs. A dynamical neighbor-based consensus protocol is proposed, which consists of the solution pair of the regulation equation and a homogenous compensator. The controller parameters can be obtained by Lyapunov stability theory and matrix theory. To make the agents achieve bipartite output consensus without using any global information, a fully distributed adaptive protocol is further designed.