Dynamic output feedback control of multi-agent systems over signed graphs

We study bipartite consensus of multi-agent systems over signed directed graphs, where both cooperative and antagonistic interactions exist within the group. Each agent is modeled by a general linear time-invariant system. A dynamic output feedback control law is proposed, leading to a bipartition of two subgroups, moving individually towards opposite directions. Moreover, we show that a proper graph topology, i.e., having a spanning tree and being structurally balanced, is crucial for achieving bipartite consensus.