LAUSR

Predefined the problem of finite-time bipartite containment control for heterogeneous linear multi-agent systems under directed topokogy. By designing a distributed bipartite compensator, the problem of bipartite containment can be considered as the problem of cooperative output regulation. Adaptive protocols are put forward by allocating a time-varying coupling weight to each follower. We thereby raise the distributed dynamic state feedback protocols combined with adaptive control, by which followers are driven to move to convex hull spanned by leaders in finite time. Furthermore, by employing the method of Lyapunov function, some plentitude criteria are inferred to pledge adaptive finite-time bipartite containment of heterogeneous agents. The final simulation examples proof the feasibility of the desired theoretical results.