Event-Triggered Observer-Based Bipartite Consensus Fault-Tolerant Control for Nonlinear Multiagent Systems Under Switching Topologies

This article centers on the observer-based bipartite consensus fault-tolerant control (FTC) problem for nonlinear multiagent systems (MASs) subject to actuator attacks under jointly connected switching topologies. First, this article addresses the problem that followers of bipartite MASs cannot switch between different groups under switching topologies. A minimum dwell time is constructed to ensure that the MASs can still achieve bipartite consensus when followers switch between different groups. Second, an innovative fully distributed bipartite event-triggered observer is presented. This mechanism ensures that some followers can still estimate the leader’s state even when they switch their affiliated groups in the scenario of switching topologies. Furthermore, combined with the backstepping method, an FTC strategy is formulated to guarantee the stable operation of the MASs subjected to actuator attacks. Theoretical analysis shows that the proposed control strategy could ensure that all signals of the controlled MASs are semiglobally uniformly ultimately bounded (SGUUB). Finally, simulation experiments are conducted to verify the control strategy.