Adaptive observer-based bipartite tracking consensus for nonlinear multi-agent systems with unknown sensor failures

Abstract

This paper investigates the bipartite tracking consensus (BTC) problem for a broad class of nonlinear multi-agent systems (NMASs) with and without unknown sensor failures. In order to relax the constraint on nonlinear dynamics in signed graph, a general lemma that extends differential mean value theorem is first put forward. On this basis, an adaptive controller is designed to achieve the bounded BTC for the NMASs. Furthermore, when unknown sensor failures occur, an adaptive observer is devised to estimate the uncompromised system states and failure factors simultaneously. Combining the proposed adaptive observer and controller, the bounded BTC property can be maintained in the presence of unknown sensor failures. Lastly, two simulation examples are carried out to illustrate the effectiveness of the proposed methods.