Observer-Based Adaptive Fault-Tolerant Consensus Tracking of Multi-Agent Systems

Abstract

This paper addresses the issue of adaptive fault-tolerant leader-follower consensus tracking (AFTLFCT) for multi-agent systems encountered with actuator fault and and external influence. For the follower agent, a distributed AFTLFCT protocol is proposed which consists of the neighbor observer and fault measurements. Sufficient criteria for AFTLFCT is derived for the systems under consideration, where Lyapunov stability functions and algebraic Ricatti equations are adopted. Finally, the simulation results is presented to illustrate the validity of the protocol design.