Co-Design of Fault Detection and Bipartite Time-Varying Formation Control for a Class of Fuzzy Multiagent Systems Under Switching Topology

This article focuses on the co-design of fault detection (FD) and time-varying formation control for a nonlinear multiagent system (MAS) over a signed switching digraph. The interval type-2 (IT2) Takagi–Sugeno (T–S) fuzzy model is utilized to represent the nonlinearities and parameter uncertainties, while a Markov process describes a signed digraph indicating possible environmental changes. To further handle the co-design problem over a signed digraph, the equivalence between FD with time-varying formation control and FD with a bipartite time-varying formation protocol is first established. Then, the sufficient conditions of stochastic stability are derived based on a mode-dependent Lyapunov function. It can be proven that the formation error is uniformly ultimately bounded, and the FD performance complies with a dissipative index. Finally, simulations of two-link robotic arm systems are performed to validate the effectiveness and feasibility of the proposed approach.