Output bipartite consensus of heterogeneous linear multi-agent systems under switching topologies

Abstract

This paper considers bipartite consensus of linear multi-agent systems over signed directed graphs, where both collaboration and competition coexist. The agent dynamics are distinct and can all have different dimensions. The communication graph can be time-varying and need not to be connected at each time. A distributed control law is proposed which enables the group to split into two disjoint subgroups, and the outputs of all agents within each subgroup achieve consensus, but the two subgroups move oppositely towards each other. Rigorous analysis and a simulation example are provided.