Distributed Bipartite Output Formation Control for Heterogeneous Discrete-Time Linear Multi-Agent Systems

This paper studies the distributed bipartite output formation control problem of heterogeneous discrete-time linear multi-agent systems (MASs) via cooperative output regulation theory. To construct the bipartite formation, under the structurally-balanced augmented directed signed graph, the followers of two antagonistic subgroups are supposed to respectively keep the desired relative positions with the leader, also called as the exosystem, in the same magnitude but the opposite sign. Since the information of exosystem can not be directly obtained by all followers, the distributed exosystem observer based on the discrete-time algebraic Riccati equality (ARE) is presented and the distributed state feedback controller is further designed. Moreover, in the case where the states of followers are not available, the distributed output feedback controller is proposed by introducing the state estimator. Finally, two numerical examples are given to demonstrate the effectiveness of analytic results.