Bipartite Fault-Tolerant Consensus Control for Multi-Agent Systems with a Leader of Unknown Input Under a Signed Digraph
Abstract
:1. Introduction
- (1)
- Most existing studies on the consensus control problem of MASs primarily consider unsigned graphs [7,8,9,10,11,12]. In contrast, this paper broadens the scope by analyzing directed networks that include both positive and negative weights. Furthermore, unlike the studies in [17,18,19,20], which achieve bipartite consensus without considering actuator faults, we address the bipartite consensus problem under actuator faults. This consideration aligns more closely with practical scenarios and enhances the robustness of MASs.
- (2)
- Due to the leader’s unknown input signal, the follower agents cannot acquire precise information regarding the leader. In contrast to the common assumption of bounded unknown input signals [30,31,32], this paper examines the unknown input signal and employs parameterization theory to design a distributed leader-state observer. This approach allows follower agents to effectively track the leader’s signal.
- (3)
- This paper designs intermediate observers using auxiliary variables to estimate follower states and time-varying actuator faults simultaneously. Drawing from these observers, a bipartite fault-tolerant consensus control protocol is proposed. Unlike existing studies, this approach eliminates the observer matching condition, significantly broadening its applicability.
2. Preliminaries and Problem Description
2.1. Graph Theory
2.2. Problem Description
3. Main Results
3.1. Fault Estimation Observer Design
3.2. Distributed Consensus Control Protocol
4. Simulation Results
5. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Liu, A.; Zhang, W.; Yue, D.; Chen, C.; Shi, J. Bipartite Fault-Tolerant Consensus Control for Multi-Agent Systems with a Leader of Unknown Input Under a Signed Digraph. Sensors 2025, 25, 1556. https://doi.org/10.3390/s25051556
Liu A, Zhang W, Yue D, Chen C, Shi J. Bipartite Fault-Tolerant Consensus Control for Multi-Agent Systems with a Leader of Unknown Input Under a Signed Digraph. Sensors. 2025; 25(5):1556. https://doi.org/10.3390/s25051556
Chicago/Turabian StyleLiu, Anning, Wenli Zhang, Dongdong Yue, Chuang Chen, and Jiantao Shi. 2025. "Bipartite Fault-Tolerant Consensus Control for Multi-Agent Systems with a Leader of Unknown Input Under a Signed Digraph" Sensors 25, no. 5: 1556. https://doi.org/10.3390/s25051556
APA StyleLiu, A., Zhang, W., Yue, D., Chen, C., & Shi, J. (2025). Bipartite Fault-Tolerant Consensus Control for Multi-Agent Systems with a Leader of Unknown Input Under a Signed Digraph. Sensors, 25(5), 1556. https://doi.org/10.3390/s25051556