Unable to Upgrade SQL Server from 2012 to 2016 SP2 in Cluster environment
Ideally in-place upgrade is not very much recommended as this poses multiple risk and has potential to bring your whole database down. You may perform the same on a different server using existing set-up and replace the old servers with new server(set-up) in your go-live activity.

Having said above, few customers go for this upgrade in order to save licensing and servers. From the error message, its very clear that MSSQL service is having dependency on SSAS. Please refer the below screenshot of dependency tab:

No Dependency:



With Dependency:


Service depends on other service:


[


Other service depends on this service:




Based on terminology, I hope its clear that what service depends on other service.

This error would have been logged in either summary or detail log as described here at Mr. Pinal Dave's article:

https://blog.sqlauthority.com/2017/06/20/sql-server-upgrade-failure-cluster-resource-not-online-bring-analysis-services-server-online-starting-upgrade-process/

This also suggests that there was something wrong with the installation, meaning same set of SQL components are not available on active and passive nodes.

As you have already confirmed from the comments that it has worked, you may find details about dependencies above.

I hope above helps.