Consenso cooperativo de salida bipartita directo basado en datos para sistemas multiagente heterogéneos con...

This paper investigates the bipartite cooperative output consensus (BCOC) problem of heterogeneous multi-agent systems with external disturbances using direct data-driven control. Unlike most existing bipartite consensus, the controller is directly designed using data collected within a finite time, which eliminates the requirement for an accurate system model. The leader's system matrix is estimated using sampling data generated by an auxiliary system. In addition, a distributed observer is constructed to handle the situation where some followers lack direct interaction with the leader. Moreover, the specific expression of the regulation equations for BCOC is derived. For the follower dynamics influenced by external disturbances and the leader, the criteria for the data to be informative for the stabilization of the error system and the data-driven solution of the regulation equation are established by employing the data informativity conditions and the relevant data. These results are further extended to the special case of bipartite consensus. Ultimately, a numerical simulation example is showcased to validate the effectiveness of the theoretical results.