Fault Diagnosis and Fault-Tolerant Control for Leader-Follower Multi-Agent Systems with Time Delay

Abstract

Under the guidance of the directed graph, this paper studies the fault diagnosis (FD) and fault-tolerant control (FTC) of the leader-follower multi-agent systems (MASs) with time delay. Actuator faults and disturbances are considered in this study, which make the work of this paper more challenging. Firstly, a robust distributed observer on the basis of the relative estimation error is put forward to obtain the fault estimation information. Then, after getting the fault information obtained by the observer, a dynamic compensation FTC protocol on the basis of the relative output tracking error is developed to make the output of followers can track the leader's output. Finally, the proposed algorithm is verified by an example and satisfactory results are obtained.