Robust Bipartite Output Regulation of Linear Uncertain Multi-Agent Systems Under Observer-Based Protocols

Robust bipartite output regulation of linear uncertain multi-agent systems is studied over a signed digraph. Since only parts of agents have access to the information of the exosystem, a distributed observer is introduced to estimate the exosystem state for each agent. Then, a distributed control protocol is proposed based on the internal model method and observer for the exosystem. By exploiting matrix analysis and algebraic graph theory, sufficient conditions for achieving robust bipartite output regulation are given. It is shown that the multi-agent system being structurally balanced and the augmented multi-agent system having a spanning tree with the exosystem being the root are the communication topology conditions for ensuring robust bipartite output regulation. Finally, the correctness of the results is validated by an example.