Fault-tolerant consensus control for multi-agent systems with actuator saturation

Abstract

We study the fault-tolerant consensus problem for a class of general linear multi-agent systems subject to actuator saturation and faults. We design a distributed control protocol using the state information of neighbours to compensate the actuator fault and analyse the domain of attraction in the presence of the saturation nonlinearity. An optimization problem is formulated based on the linear matrix inequality (LMI) approach to figure out the largest domain of attraction. Finally, we conduct the simulation example to illustrate the theoretical results.