Bipartite Fault-Tolerant Consensus Control for Multi-Agent Systems with a Leader of Unknown Input Under a Signed Digraph.

Abstract

This paper addresses the bipartite consensus problem of signed directed multi-agent systems (MASs) subject to actuator faults. This problem plays a crucial role in various real-world systems where agents exhibit both cooperative and competitive interactions, such as autonomous vehicle fleets, smart grids, and robotic networks. To address this, unlike most existing works, an intermediate observer is designed using newly introduced intermediate variables, enabling simultaneous estimation of both agent states and faults. Furthermore, a distributed adaptive observer is developed to help followers estimate the leader's state, overcoming limitations of prior bounded-input assumptions. Finally, simulation results demonstrate the method's effectiveness, showing that consensus tracking errors converge to zero under under various fault scenarios and input uncertainties.