Bipartite and cooperative output synchronizations of linear heterogeneous agents: A unified framework

This paper investigates cooperative output synchronization and bipartite output synchronization of a group of linear heterogeneous agents in a unified framework. For a structurally balanced signed graph, we prove that the bipartite output synchronization is equivalent to the cooperative output synchronization over an unsigned graph whose adjacency matrix is obtained by taking the absolute value of each entry in the adjacency matrix of the signed graph. We obtain a new H∞-criterion which is sufficient for both cooperative output synchronization and bipartite output synchronization.