Adaptive Bipartite Output Containment Control of Heterogeneous Multi-agent Systems Based on Output Regulation Approach

In this paper, the adaptive bipartite output containment problem is investigated, for a signed graph of heterogeneous multi-agent systems (HMASs). An adaptive state feedback algorithm and an output feedback algorithm are designed to ensure that cooperative and antagonistic agents enter different convex hull. A novel protocol is proposed for heterogeneous systems to deal with the bipartite output containment problem, where only the leader’s neighbours can learn the leader’s system matrix without all followers. Then, based on output regulation approach, Lyapunov stability analysis and some other methods guarantee that the bipartite output containment control problem is implemented. Finally, the validity of our analytical results is verified by the numerical simulations provided.