Practical Finite-time Bipartite Consensus for Nonlinear Multi-agent Systems under Antagonistic Interactions and Actuation Failures

In this paper, the practical finite-time leaderless bipartite consensus problem for uncertain nonlinear multi-agent systems (MASs) with actuation failures is considered. With the unknown nonlinear dynamics, time-varying and unknown control gains, and undetectable actuation failures, the distributed finite-time controller design for such systems becomes more challenging. In response to this challenge, an adaptive faulttolerant distributed control protocol is proposed in this work, with which not only the neighborhood state error can converge to a sufficient small compact set within finite time, but also both the neighborhood error and the convergence time are tuned to the expected small range by adjusting the design parameters.