Fixed/Preassigned-Time Bipartite Output Regulation of Heterogeneous Multiagent Systems

This article focuses on the fixed-time (FXT) and preassigned-time (PAT) bipartite output regulation of heterogeneous linear multiagent systems (MASs), where both cooperative and adversarial interactions among neighboring agents are considered under a signed graph framework. Since the exosystem information may be unavailable to the agents, an FXT distributed observer and an FXT adaptive distributed observer are designed to accurately identify the exosystem's coefficient matrix and state, respectively. Subsequently, in the absence of the stabilizability and detectability of coefficient matrices, distributed state- and output-feedback control protocols are designed to ensure FXT bipartite output regulation. Besides, for a preset convergence time, the bipartite output regulation is explored by developing control protocols incorporating distributed PAT observers and controllers. Finally, the theoretical results are applied to warehouse automation robot systems.