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Bipartite Containment Control of Singular Multi-Agent Systems over Signed Digraphs

This paper addresses the bipartite containment control problem for singular multi-agent systems with multiple dynamic leaders over signed digraphs, where each leader can be autonomous or dynamically evolving via interactions with its neighboring leaders. A distributed control protocol based on the relative states of neighboring agents is developed. It is shown that under the proposed control protocol, bipartite containment control can be achieved if the underlying signed digraph is weakly connected. A simulation example is finally given to illustrate the theoretical results.