Bipartite output consensus for heterogeneous linear multi agent systems with fully distributed protocol
Abstract This paper addresses the problem of bipartite output consensus of heterogeneous multi agent systems over signed graphs. First, under the assumption that the sub graph describing the communication topology among the agents is connected, a fully distributed protocol is provided to make the heterogeneous agents achieve bipartite output consensus. Then for the case that the topology graph has a directed spanning tree, a novel adaptive consensus protocol is designed, which also avoids using any global information. Each of these two protocols consists of a solution pair of the regulation equation and a homogeneous compensator. Numerical simulations show the effectiveness of the proposed approach.
J. Frankl. Inst.