Bipartite Containment Control of Multi-Agent Systems
Muhammad Zahir Ahsan, Qian Ma · 2019
This paper studies the bipartite containment control for first-order multi-agent systems. Transformation matrix is employed to show that bipartite containment control can be transformed to common containment control problem. It is proven that if the graph is structurally balanced and for every follower, a directed path from a leader exist, then bipartite containment control problem can be solved and the followers of first group achieve the final position within the convex hull formed by the leaders whereas the followers of second group make bipartition within the exact opposite convex hull formed by the leaders. Finally, numerical simulation is given for illustration.