Iterative Learning Fault Diagnosis of Fractional-Order Nonlinear Multi-Agent Systems with Initial State Learning and Switching Topology

This paper proposes an iterative learning framework for a class of fractional-order nonlinear multi-agent systems operating under directed iteration-varying switching topologies. To suppress trial-to-trial fluctuations in initial states, a P-type initial condition learning mechanism is integrated into the update law, enabling each agent to actively compensate for its own startup offset in each iteration. The study designs a distributed iterative learning protocol using only local neighbor information, and this protocol can simultaneously achieve fault estimation and diagnosis. By constructing a fractional-order system model and adopting the contraction-mapping analysis method, sufficient conditions are derived in this paper, which guarantee that both the fault error and initial condition error converge asymptotically to zero as the number of iterations approaches infinity. The proposed scheme, based on iterative learning fault estimation, can effectively handle unknown nonlinearities without relying on an accurate system model. Numerical simulation results further verify the effectiveness of the designed fault observer in achieving fault estimation.