Distributed Adaptive Bipartite Containment Control of Linear Multi-agent Systems with Structurally Balanced Graph

This study researches the bipartite containment control problem of heterogeneous linear multi-agent systems under a signed digraph. The bipartite containment problem can be viewed as the output regulation problem by devising a compensator. By distributing a coupling weight which is time-varying to each follower, the adaptive protocols are proposed. Thus, we propose the distributed dynamic state feedback and output feedback protocols in conjunction with adaptive control, by which followers will converge to the convex hull crossed by leaders. Additionally, based on the utilization of the Lyapunov function approach, some extensive criteria are deduced to guarantee the bipartite containment of heterogeneous multi-agent system. The final simulations demonstrate the viability of the theoretical results.