Cluster-Bipartite Output Consensus of Heterogenous Linear Multi-agent Systems

This paper studies the cluster-bipartite output consensus problem of heterogenous linear multi-agent systems under cooperative-competitive communication topology. Different from traditional consensus problems, the multiple clusters with multiple leaders (all called exosystems) are introduced to complete complex cluster collaboration tasks. How to deal with the cooperative-competitive relationships within and between subgroups is challenging. Therefore, when the positive and negative weights both exist within and between subgroups, we employs a multi-leader-follower framework and output regulation theory to realize the desired cluster-bipartite output consensus. Specially, a new distributed observer based on Riccati inequalities is designed and then an output feedback control protocol is presented. Finally, a numerical example is provided to validate the effectiveness of the proposed theory.