Event‐triggered bipartite consensus for high‐order nonlinear multi‐agent systems with actuator faults

This article addresses the event‐triggered bipartite consensus problem for high‐order nonlinear multi‐agent systems with antagonistic interactions. Intermittent actuator faults covering bias and partial loss of effectiveness are also investigated. To achieve consensus, a relative‐output‐dependent compensator is constructed based on a time‐varying gain. Subsequently, by integrating adaptive compensation mechanisms as well as an event‐triggered mechanism, an output‐feedback fault‐tolerant consensus protocol is proposed for the sake of fault compensation. It is worth noting that a positive ℒp$$ {\mathcal{L}}_p $$ function is embedded in the triggering function to adjust the triggering threshold and exclude the Zeno behavior. Under a signed digraph, it is shown that the designed protocol enables all agents to achieve consensus with opposite signs, even if the total number of unknown faults is infinite. Finally, a simulation is presented to illustrate the validity of the obtained protocol.