Abstract
A fully distributed adaptive bipartite consensus control strategy with adaptive dynamic self-triggered mechanism is designed for a heterogeneous linear multi-agent system in the presence of actuator faults. An adaptive dynamic compensator is provided to deal with the consensus control problem, and an adaptive mechanism is proposed for actuator faults with estimation of the leader's matrix. The control strategy only depends on agents' dynamics as well as relative states of neighbors, and the adaptive dynamic self-triggered mechanism is constructed without continuous monitoring. The stability analysis shows that the leader-following output bipartite consensus, with an undirected graph, is achieved, and there is no Zeno behavior. Furthermore, the proposed strategy is verified via two examples, where dynamic behaviors and control performance are presented.