Observer-based fault tolerant consensus of linear multi-agent systems

Abstract

This paper considers the consensus problem of linear multi-agent systems with actuator fault. The communication topology is undirected graph. First, an observer is designed to estimate each agent's states and inputs. Based on the general faulty agent model and the observer's states, we then propose fault tolerant control protocol and the corresponding conditions to achieve consensus. Finally, numerical examples are given to illustrate the theoretical results.