Abstract
This paper proposes a distributed signed cluster consensus protocol to study the problem of link failure detection for multi-agent systems in cooperation-competition networks. Firstly, the asymptotic and final convergence states of agents under the signed cluster consensus protocol are analyzed using signed graph theory and nonnegative matrix theory. Secondly, by observing the change of the agent's convergence state before and after the link failure, a method for accurately judging the failed link is given. This method is suitable for both the cases of single link failure and multiple link failures. Finally, the effectiveness of the method is verified by numerical simulations.
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