Bipartite Consensus of Multi-Agent Systems under Directed Matrix-Weighted Graph

The problem of bipartite consensus in the undirected topology of matrix-weighted multi-agent systems has been effectively discussed in recent years. In some real situations, agents in the network need to exchange directed information with other agents. Therefore, in order to to solve the problem of the directed communication in reality, this paper focuses on the related problem of bipartite consensus of the matrix-weighted directed communication topology for the first time. We propose the bipartite consensus algorithm of directed multi-agent systems, and derive the algebraic conditions for the bipartite consensus of directed networks with the Lyapunov stability theory. Finally, the simulation results verify the correctness of the analysis.