Fault Detection and Bipartite Time-Varying Formation Control for Fuzzy Multi-Agent Systems under Switching Topology: Theory and Applications

This paper studies the problem of co-designing fault detection observers and time-varying formation controllers for nonlinear multi-agent systems over a signed switching digraph. A Markov process is employed to describe the digraph and the IT2 T-S fuzzy model is used to model the nonlinearities and parameter uncertainties of the system. Sufficient conditions are proposed guaranteeing that the bipartite time-varying formation tracking error is uniformly ultimately bounded and the fault detection performance is constrained by a dissipative index. Finally, the effectiveness and feasibility of the proposed method are verified by an example of one leader and six followers and a case study of a system of seven robotic arms.