Synchronous fault-tolerant consensus control and disturbance rejection for leader-following multi-agent systems with fault of polynomial form

Abstract

This article studies the design problem of fault-tolerant and disturbance rejection control for leader-following multi-agent systems with polynomial form fault. First, a novel observer is designed to estimate polynomial form faults and external disturbances in the tracker. Second, a fault-tolerant control protocol is designed for each follower based on the obtained estimates; the designed distributed controller can effectively achieve both the goal of fault-tolerant control and the effect of disturbance rejection. Finally, a simulation result of a practical example is presented to verify the feasibility of the proposed scheme.

Fixed-Time Group Consensus Control of Multi-Agent Systems With Actuator Faults Based on Dynamic Event Triggering

“…By constructing a distributed adaptive fault-tolerant controller in the physical layer and a distributed pulse controller in the communication layer, Zhao et al dealt with the effects of actuator faults and spoofing faults on the system in [18]. In [19], Xiao et al designed a new observer to estimate polynomial faults and external perturbations, and combined with the estimates, designed a distributed controller to achieve fault tolerance and disturbance immunity. In [20], Shen et al designed a fault-tolerant event-triggering control protocol, which can improve the system security and reduce the communication channel burden.…”