Output Bipartite Consensus Of Heterogeneous Linear Multi-agent Systems

In recent years, distributed cooperative control of multi-agent systems has been intensively studied, due to its broad applications in many scenarios such as transportation networks, power grids, industrial production, and social networks. This thesis studies the output bipartite consensus of heterogeneous multi-agent systems over signed directed graphs.Firstly, we consider the output bipartite consensus problem of continuous-time heterogeneous linear multi-agent systems over fixed signed directed graphs. The communication topology between the individual nodes is described by a fixed signed digraph, where both collaboration and competition coexist within the group. The individual dynamics are different from each other,and especially the state dimensions may be different.The main idea is to establish an equivalence of output bipartite consensus and conventional output consensus for heterogeneous linear multi-agents. We solve the bipartite output consensus problem by designing two output feedback controller.Secondly, we consider the output bipartite consensus problem of discrete-time heterogeneous linear multi-agent systems over fixed signed directed graphs. For the leader-follower system,the leader,a special agent,can only send information to some followers. The objective is to design a distributed control law such that the followers achieve an output bipartite consensus, where some followers track the leader, and the rest diverge from the leader. Next, for the leaderless system, through designing an output feedback controller, the output bipartite consensus is achieved.Finally, we consider the output bipartite consensus problem of continuous-time heterogeneous linear multi-agent systems over switching signed directed graphs. This topic is more general than the bipartite consensus with fixed topology. The communication graph can be time-varying and need not to be connected at each time. A distributed control law is proposed such that the heterogeneous systems achieve output bipartite consensus under switching topologies.