LAUSR

In this paper, the distributed bipartite containment control problem for high-order nonlinear multi-agent systems (MASs) with time-varying powers is investigated under signed communication topology. Unlike existing bipartite containment control problems, the powers of the systems are considered to be unknown and time-varying, and the novel bipartite containment controller is proposed. First, the dynamic gain compensator and bipartite containment observer, which could estimate the corresponding virtual leader trajectory belonging to the convex hull spanned by multiple leaders and their symmetric ones, are developed for each follower. Subsequently, with the help of observer, a novel distributed bipartite containment controller is designed by using the power integrator technique and the backstepping method to ensure that the followers converge in the convex hull spanned by multiple leaders and their symmetric ones. Finally, the effectiveness of the bipartite containment scheme is verified by a simulation example.