Leader–Follower Bipartite Consensus of Uncertain Linear Multiagent Systems With External Bounded Disturbances Over Signed Directed Graph

In this letter, leader-follower bipartite consensus of linear multiagent systems (MASs) has been studied over a signed directed graph. The agents in the MAS are subjected to system parametric uncertainties and unknown external bounded disturbances. A distributed observer-based relative output feedback control law is designed for each follower to achieve bipartite consensus. It has been shown that if the underlying directed communication graph is structurally balanced and contains a directed spanning tree rooted at the leader, then the appropriate design of scalar coupling gains, and controller feedback gain and observer gain obtained from solving two suitable linear matrix inequalities (LMIs) stabilizes both the bipartite consensus error and observer estimation error to a bound. The simulation results verify the effectiveness of the proposed methods.