Output bipartite consensus of multi-agent systems only based on the output signal

The output bipartite consensus for heterogenous multi-agent systems is investigated in this paper. Unlike the existing results on similar problems, the proposed dynamic compensator relies on the measurment output of the original system rather than state information of the observer. The proposed compensator has two advanteges: it dose not need an additional communication network to exchange the state of the observer and it does require every follower to obtain the parameter information of the leader. Then, the conditions that guarantee the output bipartite consensus is proposed using the small-gain theorem. Meanwhile, the low-gain method is applied for the design of the controller with the condition that the leader or exogenous system dose not diverge exponentially. Finally, the simulation results demonstrate the successful performance of the proposed dynamic compensator.