Data-Driven Fault-Tolerant Bipartite Consensus Tracking for Multi-Agent Systems with a Non-Autonomous Leader

Abstract

Dear Editor, This letter studies the bipartite consensus tracking problem for heterogeneous multiagent systems with actuator faults and a leader's unknown time-varying control input. To handle such a problem, the continuous fault-tolerant control protocol via observer design is developed. In addition, it is strictly proved that the multiagent system driven by the designed controllers can still achieve bipartite consensus tracking after faults occur. The notable features are as follows: the proposed continuous observers don't need all agents to know the leader's information and permit all followers to be unaware of the spectral information of Laplacian matrix of the communication topology graph; the proposed continuous controllers neither include sign functions nor rely on system dynamics. Finally, simulations are used to validate the feasibility of the obtained results.