Fault Diagnosis and Bipartite Fault-tolerant State Consensus for Multi-agent Systems Under Switching Topology

This paper investigates bipartite fault-tolerant consensus of multi-agent systems under switching topology and actuator faults. Firstly, to diagnose actuator faults, a fault-inclusive system model is established, and a distributed extended state observer is designed by using relative neighbor information to ensure stability of the systems. Secondly, bipartite fault-tolerant consensus is discussed for multi-agent systems under switching topology based on the protocol that considers both cooperative and competitive information. Finally, the LMI toolkit provides the gain matrix for response cases, and numerical simulations are provided to validate the effectiveness of the obtained theoretical results.