Distributed Adaptive Fault-tolerant Tracking Consensus Control of Nonlinear Multi-agent Systems

Abstract

In this paper, the fault-tolerant tracking consensus problem of a class of nonlinear leader-follower multi-agent systems against actuator faults is studied. The communication graph is any directed graph containing a directed spanning tree with the leader as the root. A fully distributed adaptive fault-tolerant tracking consensus protocol, which is based on the relative states of neighbours, is proposed to guarantee that all followers track with the leader's state, asymptotically. Finally, a numerical simulation is provided to verify the effectiveness of the proposed fault-tolerant tracking consensus protocol.