Adaptive bipartite output containment control of heterogeneous multi-agent systems with leaders bounded unknown inputs

This paper researches the adaptive bipartite output containment problem, for a signed graph of heterogeneous multi-agent systems (HMASs). The dynamics of leaders are subject to unknown but bounded inputs, which cannot be measured by followers. Therefore, an containment control protocol based on distributed observer is proposed. An adaptive state and an output feedback algorithm are designed to ensure that cooperative and antagonistic agents enter different convex hull. Then, based on the output regulation approach, Lyapunov stability analysis and some other methods, the bipartite output containment control is realized. Finally, we validate the analytical results by numerical simulations.