Observer-Based Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems with Time-Delay

This paper is concerned with the fault estimation and fault-tolerant consensus control problem for Lipschitz nonlinear multi-agent systems (MASs) with time-delay affected by actuator faults and external disturbance. The communication topology of the MASs is assumed to be undirected. Firstly, by employing the output estimation errors of its own and its neighbors, the fault estimation observer is constructed to achieve the simultaneous estimation of MASs states and actuator faults. Secondly, based on the obtained estimation information, a dynamic output feedback fault-tolerant controller is designed to compensate the effect of faults. Thirdly, by using the linear matrix inequality technique to solve the nonconvexity problem, the robust performance conditions of the observer and the controller are obtained. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed control protocol.