Bipartite containment control of multi-agent systems with multiple leader groups

This article mainly considers the bipartite containment control problem of multi-agent systems with first- and second-order dynamics, where the antagonistic networks and multiple leader groups are considered. Specially, under the antagonistic networks, the multiple leader groups constitute two opposite convex hulls. One is a real convex hull composed of the real leader groups and the other is a virtual convex hull composed of opposite virtual leaders. For the first-order multi-agent systems with multiple leader groups, the followers move into the stationary real or virtual convex hull. While for the second-order multi-agent systems, the followers finally move into the dynamic real or virtual convex hull. In both cases, we obtain the sufficient conditions on achieving bipartite containment control. In the end, the effectiveness is verified by some simulations.