Observer-based consensus control against actuator faults for linear parameter-varying Multi-agent Systems

This paper addresses the robust consensus reliable control protocol design problem against actuator faults for linear parameter-varying multi-agent systems. First, the actuator faults are modeled via a polytopic uncertainty method. Second, a distributed observer is designed for the single agent by sharing the communication network sensors to estimate the state information. Then by these estimated information, a robust consensus reliable control protocol against actuator faults is obtained and desired disturbance rejection performance can be guaranteed by this proposed protocol. Third, the non-convexity conditions of the consensus control protocol can be translated into a LMI optimization problem via simple matrix calculation. Finally, the effectiveness of the proposed reliable controller scheme is illustrated by the example.