Abstract
This brief investigates the bipartite containment control problem of linear multi-agent systems over signed directed graphs. Since the graph is structurally balanced and the definition of M-matrix that utilized in several previous is invalid in this brief, the problem has to be solved by a general method. A distributed bipartite error is given to show that the followers will not only converge to the convex hull spanned by the leaders, but also converge to the symmetric convex hull. To estimate the convex hull information of the leaders, a distributed bipartite compensator is presented with the measurable states of leaders. To solve the problem of bipartite containment control, an output feedback approach is proposed based on the bipartite compensator. Finally, a numerical example shows the effectiveness of the presented approach.
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