Fault-Tolerant Cooperative Bipartite Formation Tracking of Multiagent Systems on Signed Directed Networks With Actuator Faults

This article studies the bipartite time-varying formation (BTVF) control with actuator faults for general linear multiagent systems under signed and directed communication topology and proposes a class of cooperative control protocols to deal with the BTVF problem with actuator faults for the first time. First, to deal with the unknown state and time-varying actuator fault of each agent, a class of state observers and fault estimators based on output feedback is proposed. Then, with the help of state observers and fault estimators, a class of BTVF output feedback control protocols is proposed. Furthermore, the rigorous proofs are given and some sufficient conditions for realizing the BTVF are derived. It is proved that over time with the obtained sufficient conditions, the formation errors, observation errors, and fault estimation errors can converge to a ball with the center of the origin. Finally, numerical simulations are provided to illustrate the effectiveness and feasibility of the proposed fault-tolerant BTVF control protocols, and a comparison example is given to check the merits of the proposed protocols.