Distributed output estimation error observer-based adaptive fault-tolerant consensus tracking control of multi-agent systems

The purpose of this study is to discuss the fully distributed design of output estimation error observer and fault-tolerant consensus tracking control for a class of multi-agent systems with Lipschitz nonlinear dynamics and actuator faults. Firstly, based on the relative output measurements of neighboring agents, the distributed output estimation error observer is developed to adaptively estimate the state and fault information of each agent, and further overcome the difficulties of online updating the adaptive estimations of unknown hyper-parameters. Secondly, to achieve the state consensus tracking goal and compensate for the negative effects of actuator faults, the distributed fault-tolerant consensus tracking control scheme is proposed on the basis of the state estimation and adaptive fault estimation information, and has excellent robustness and consensus tracking control performance. Moreover, sufficient criteria can ensure that consensus tracking error of each agent converges to a small set near the origin. Finally, numerical simulations are provided to show the effectiveness of the proposed fully distributed algorithm.