Output bipartite consensus of heterogeneous linear multi-agent systems

This paper aims to address the output bipartite consensus problem of heterogeneous linear multi-agent systems over signed directed graphs, where both collaboration and competition coexist within the group. The agents can all have different dynamics but the same output dimensions. The main idea is to relate the output bipartite consensus with the well studied conventional output consensus over nonnegative graphs, where all agents cooperate. We solve the bipartite output consensus problem by modifying two existing control protocols for conventional output consensus problems.