Distributed Bipartite Consensus Control for Multi-Agent Systems With Actuator Faults Under Fixed and Markovian Switching Topology

We consider the distributed bipartite consensus problem of general linear multi-agent systems (MASs) with structurally balanced symbolic graphs. The communication topology is fixed topology or Markovian switching topology which follows a continuous time Markov process. Different from the traditional multi-agent fault-tolerant consensus control, a distributed consensus control protocol is designed for multi-agent systems with both competitive and cooperative states. A distributed extended state observer and distributed bipartite consensus based on relative neighbor information are designed with the help of algebraic graph theory and Lyapunov stability theory. The bipartite consensus error and estimation error converge to zero under the action of the bipartite control protocol. In the end, the superiority of the theoretical method is verified by simulation examples.