LAUSR

This brief discusses bipartite output consensus problem of heterogeneous multi-agent systems (MASs) with a signed graph. First, by applying the output regulation method, an adaptive state feedback algorithm together with an adaptive output feedback algorithm are presented respectively for the heterogeneous systems. The system matrix of the leader is known only by its neighbors, not all followers. Second, some sufficient conditions are acquired to achieve bipartite output consensus based upon graph theory, Lyapunov stability theory and other related methods. Finally, the accuracy of our theory analysis is testified by simulations.